Real Time Trajectory Generation for Differentially Flat Systems

Real Time Trajectory Generation for Differentially Flat Systems

This paper considers the real time trajectory generation problem of how to generate, possibly with some delay, a full state space and input trajectory in real time from an output trajectory that is given online, while allowing a tradeoo between stability and performance. The paper proposes two algorithms that solve the real time trajectory generation problem for diierentially at systems with (p...

Real Time Trajectory Generation Fordifferentially Flat

This paper considers the problem of real time tra-jectory generation and tracking for nonlinear control systems. We employ a two degree of freedom approach that separates the nonlin-ear tracking problem into real time trajectory generation followed by local (gain-scheduled) stabilization. The central problem which we consider is how to generate, possibly with some delay, a feasible state space ...

Real-Time Trajectory Generation for Autonomous Nonlinear Flight Systems

Flat systems, equivalence and trajectory generation

2 Equivalence and flatness 6 2.1 Control systems as infinite dimensional vector fields . . . . . . . 6 2.2 Equivalence of systems . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3 Differential Flatness . . . . . . . . . . . . . . . . . . . . . . . . . 12 2.4 Application to motion planning . . . . . . . . . . . . . . . . . . . 13 2.5 Motion planning with singularities . . . . . . . . . . . ....

Constrained reachability and trajectory generation for flat systems

We consider the problem of trajectory generation for constrained differentially flat systems. Based on the topological properties of the set of admissible steady state values of a flat output we derive conditions which allow for an a priori verification of the feasibility of constrained set-point changes. We propose to utilize this relation to generate feasible trajectories. To this end we sugg...