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On Motion Planning and Control for Partially Differentially Flat Systems.
- Source :
-
Robotica . Apr2021, Vol. 39 Issue 4, p718-734. 17p. - Publication Year :
- 2021
-
Abstract
- SUMMARY: This paper deals with motion planning and control problems for a class of partially differentially flat systems. They possess a feature that the derivative of the fiber variable can be represented purely by the base variable and its derivatives. Based on this feature, a Beta function-based motion planning algorithm is proposed with less computational cost compared with the optimal control formulation while providing similar system performance. Then, an adaptive controller is constructed through a function approximation technique-based approach. Finally, the feasibility of the proposed motion planning and control algorithms is verified by simulations. [ABSTRACT FROM AUTHOR]
- Subjects :
- *PRODUCTION planning
*ALGORITHMS
*FIBERS
Subjects
Details
- Language :
- English
- ISSN :
- 02635747
- Volume :
- 39
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- Robotica
- Publication Type :
- Academic Journal
- Accession number :
- 149307957
- Full Text :
- https://doi.org/10.1017/S0263574720000685