Trajectory Planning for Linear Control Systems with Generalized Splines
نویسندگان
چکیده
When planning trajectories for linear control systems, a demand that arises naturally in, for instance, air traac control, noise contaminated data interpolation, and planning for switched control systems, is that the curve interpolate through given points or intervals at given times. In this article, we address this by showing how standard optimal control techniques, together with mathematical programming, solve the problem and provide a theoretical framework for producing a set of curves called generalized smoothing splines.
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