Title :
On discrete-time trajectory planning for state space exact linearizable systems
Author :
Ferreira, Armando M. ; Agrawa, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA
Abstract :
Models derived from first-principles are continuous in time, but digital computer control implementations utilize discrete-time models. For linear systems, there are well known methods to obtain an exact discrete-time model. For nonlinear systems, however, there is no general method available. State space exact feedback linearizable systems comprise a class of nonlinear systems that admit transformation to a linear form, based on which an approximate time discretization is possible. This paper deals with optimal planning for such systems
Keywords :
digital control; discrete time systems; linearisation techniques; nonlinear control systems; path planning; state-space methods; digital computer control; discrete-time trajectory planning; exact discrete-time model; linear systems; nonlinear systems; optimal planning; state space exact feedback linearizable systems; Control systems; Digital control; Linear systems; Mechanical engineering; Nonlinear control systems; Nonlinear systems; State feedback; State-space methods; Trajectory; Vectors;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878727
