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 (possibly non-minimum phase) zero dynamics, and discusses some interesting properties. It explicitly addresses the tradeoo between stability and performance. The algorithms are validated in simulations and experiments with a vectored thrust ducted fan aircraft. 1. INTRODUCTION In this paper we describe algorithms to generate tra-jectories in real time for diierentially at nonlinear systems. This is part of a general control paradigm for non-linear systems depicted in Figure 1.