Title :
Trajectory Planning for Approximately Feedback Linearized Systems
Author :
Gwo, Eric C. ; Hauser, John
Author_Institution :
Electrical Engineering-Systems, University of Southern California, Los Angeles, CA 90089-2563
Abstract :
In this paper, we use B-splines to smooth a given desired trajectory so that it can be more effectively tracked by an approximately feedback linearized system. After choosing the order of B-splines and doing optimization, the resulting smooth approximate trajectory is close to the specified trajectory within a given allowance, and the aggressiveness of this approximate trajectory is minimized.
Keywords :
Aircraft; Constraint optimization; Feedback; Frequency locked loops; Indium phosphide; Linear approximation; Path planning; Polynomials; Robots; Trajectory;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
