• A
  • A
  • A
  • АБВ
  • АБВ
  • АБВ
  • A
  • A
  • A
  • A
  • A
Обычная версия сайта
  • RU
  • EN
  • HSE University
  • Publications
  • Book chapter
  • Polynomial-based trajectory planning for affine dynamical systems under state and input constraints
  • RU
  • EN
Расширенный поиск
Высшая школа экономики
Национальный исследовательский университет
Priority areas
  • business informatics
  • economics
  • engineering science
  • humanitarian
  • IT and mathematics
  • law
  • management
  • mathematics
  • sociology
  • state and public administration
by year
  • 2027
  • 2026
  • 2025
  • 2024
  • 2023
  • 2022
  • 2021
  • 2020
  • 2019
  • 2018
  • 2017
  • 2016
  • 2015
  • 2014
  • 2013
  • 2012
  • 2011
  • 2010
  • 2009
  • 2008
  • 2007
  • 2006
  • 2005
  • 2004
  • 2003
  • 2002
  • 2001
  • 2000
  • 1999
  • 1998
  • 1997
  • 1996
  • 1995
  • 1994
  • 1993
  • 1992
  • 1991
  • 1990
  • 1989
  • 1988
  • 1987
  • 1986
  • 1985
  • 1984
  • 1983
  • 1982
  • 1981
  • 1980
  • 1979
  • 1978
  • 1977
  • 1976
  • 1975
  • 1974
  • 1973
  • 1972
  • 1971
  • 1970
  • 1969
  • 1968
  • 1967
  • 1966
  • 1965
  • 1964
  • 1963
  • 1958
  • More
Subject
News
August 12, 2026
‘I Would Like My Research to Help Make the World a Calmer and Better Place
Whatever task Saraa Ali, Junior Research Fellow at the Laboratory of Methods for Big Data Analysis (LAMBDA) of the AI and Digital Science Institute (HSE Faculty of Computer Science), is working on, she thinks about how it can benefit people. She told the Young Scientists of HSE University project about her large family, diagnosing three-phase motors, and her dream of building a children’s home in her native country.
August 11, 2026
‘The Peak of Stupidity and ‘The Valley of Despair: HSE Economists Propose an Explanation for the Dunning–Kruger Effect
The Dunning–Kruger effect, which describes a sharp surge in self-confidence among beginners followed by an equally rapid decline as they gain experience, can be explained by the nature of the learning process and the acquisition of new knowledge. This conclusion was reached by Andrey Vorchik of the HSE Faculty of Economic Sciences together with independent researcher Murat Mamyshev. They developed a mathematical model of learning and demonstrated how subjective confidence is formed and changes as knowledge accumulates, as well as how teachers can reduce the ‘valley of despair’ experienced by learners.
July 24, 2026
‘I Like Self-Fulfilling Prophecies
Andrey Vorchik studies happiness, delivers popular science lectures, and believes that science should address social issues as well. In an interview for the Young Scientists of HSE University project, he spoke about how emotions influence decision-making, the Bermuda Triangle formed by the bathroom, refrigerator, and bed, and the ideal formula for education.

 

Have you spotted a typo?
Highlight it, click Ctrl+Enter and send us a message. Thank you for your help!

Publications
  • Books
  • Articles
  • Chapters of books
  • Working papers
  • Report a publication
  • Research at HSE

?

Polynomial-based trajectory planning for affine dynamical systems under state and input constraints

.
Golubev A., Utkina N. V.

In this note we deal with analytical time polynomial based motion planning considerations. A class of differentially flat affine dynamical systems that can be rendered as a set of second-order controlled subsystems is analyzed. It is shown that state and input box constraints can be readily accounted for by proper choice of time of motion or/and initial or final values of some of the state variables and their time derivatives. 

Language: English
Full text
DOI
Keywords: nonlinear controlreference trajectory

In book

Proceedings of 2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference), STAB 2020
IEEE, 2020.
Similar publications
Nonlinear Analysis of SRF-PLL: Hold-In and Pull-In Ranges
Alexeeva T., Kuznetsov N., Lobachev M. et al., , in: Recent Developments in Model-Based and Data-Driven Methods for Advanced Control and DiagnosisIssue 467: ACD 2022.: Cham: Springer, 2023. P. 225–234.
Added: January 10, 2024
Modeling of Cerebral Blood Flow Autoregulation Using Mathematical Control Theory
Golubev A., Kovtanyuk A., Lampe R., Mathematics 2022 Vol. 10 No. 12 Article 2060
A mathematical model of cerebral blood flow in the form of a dynamical system is studied. The cerebral blood flow autoregulation modeling problem is treated as a nonlinear control problem and the potential and applicability of the nonlinear control theory techniques are analyzed in this respect. It is shown that the cerebral hemodynamics model in question is differentially ...
Added: June 23, 2022
Nonlinear quadrotor control based on Simulink Support Package for Parrot Minidrones
Golubev A., Glazkov T. V., , in: Proceedings of the Workshop on Mathematical Modeling and Scientific Computing: Focus on Complex Processes and Systems — dedicated to the memory of Nikolai Botkin (MMSC 2020).: CEUR Workshop Proceedings, 2020. Ch. 2783 P. 113–127.
Added: November 18, 2021
Construction of quadrocopter programmed motion in a flat labyrinth
Golubev A., Nay T., Gorbunov A. V. et al., AIP Conference Proceedings 2019 Vol. 2116 Article 380004
In this note we deal with control of a quadrocopter in a horizontal plane under state constraints in the form of a labyrinth. An algorithm to construct the programmed motion of the quadrocopter in a flat labyrinth is proposed. A full rigid body model of the flying vehicle that doesn't assume smallness of the Euler ...
Added: November 18, 2021
Control of quadcopter motion in the horizontal plane
Glazkov T. V., Golubev A., Gorbunov A. V. et al., AIP Conference Proceedings 2019 Vol. 2116 Article 380003
This paper deals with trajectory tracking control of a quadcopter in a horizontal plane. A full rigid body model of the flying vehicle that doesn't assume smallness of the Euler angles is considered. For synthesis of the tracking control the nonlinear dynamics inversion approach is used. Three different control strategies with restrictions on the orientation ...
Added: November 18, 2021
Using Simulink support package for Parrot Minidrones in nonlinear control education
Glazkov T. V., Golubev A., AIP Conference Proceedings 2019 Vol. 2195 Article 020007
In this paper we deal with nonlinear control design for Parrot Mambo or Parrot Rolling Spider quadcopters using Simulink Support Package for Parrot Minidrones. A full rigid body model of the flying vehicle that doesn't assume smallness of the Euler angles is considered. For synthesis of the control the nonlinear dynamics inversion and integrator backstepping ...
Added: November 18, 2021
Missile angle of attack tracking using integrator backstepping
Golubev A., Krishchenko A. P., Utkina N. V., IFAC-PapersOnLine 2019 Vol. 52 No. 16 P. 724–729
This paper deals with missile longitudinal dynamics control. The angle of attack tracking problem is considered for an unpowered flight phase of a short range tail-controlled missile with the zero engine thrust. For the control synthesis, a simplified missile dynamics model that includes the actuator dynamics is used. The tracking control law is designed using ...
Added: November 18, 2021
Backstepping control of aircraft take-off in windshear
Golubev A., Botkin N. D., Krishchenko A. P., IFAC-PapersOnLine 2019 Vol. 52 No. 16 P. 712–717
In this paper, we deal with the problem of aircraft take-off control in the presence of a windshear. A simplified point mass nonlinear model of aircraft dynamics assuming the flight in a vertical plane is used. A reference trajectory is constructed to satisfy the altitude, relative path inclination and relative velocity state constraints. An integrator ...
Added: November 18, 2021
Constrained trajectory planning for second-order chained form systems using time polynomials
Golubev A., IFAC-PapersOnLine 2020 Vol. 53 No. 2 P. 5530–5535
This paper deals with time polynomial based trajectory planning for differentially flat affine dynamical systems that can be written as a chain of second-order controlled subsystems. An analytical approach is proposed to account for state and input constraints by adjusting the standard third-order time polynomial based considerations. For a point-to-point motion planning problem the constraints ...
Added: November 18, 2021
Stabilization of passive dynamical systems with actuator and sensor disturbances
Golubev A., Utkina N. V., IFAC-PapersOnLine 2020 Vol. 53 No. 2 P. 5807–5812
We analyze stabilizability of passive dynamical systems subject to actuator and sensor disturbances. New sufficient conditions are given for the conventional static output feedback, which is used to stabilize passive systems, to guarantee the (integral) input-to-state stability property with respect to the disturbances. As an illustrative example application of the obtained results to robust state observer redesign is considered. ...
Added: November 18, 2021
Построение программных движений механических систем с учетом ограничений при помощи многочленов третьего порядка
Golubev A., Известия РАН. Теория и системы управления 2021 № 2 С. 303–214
A problem of the synthesis of programmed motions of mechanical systems based on the use of time polynomials is considered. The programmed trajectory is selected in the class of monotonic third-order polynomials on the given time interval based on the initial and final states of the system, as well as constraints on the state and ...
Added: November 18, 2021
A Method for Constructing the Trajectory for an Unmanned Aerial Vehicle in a City
Tsaryova O. O., Popov V.Y., Suzansky D.N. S. N., Moscow University Physics Bulletin 2016 Vol. 71 No. 2 P. 161–167
A synthesis method for the reference trajectory of an unmanned aerial vehicle that flies around obstacles of urban buildings in the horizontal and vertical planes is proposed. To solve this problem, for the first time a conformal mapping is constructed for a collection of rectangles that approximate the obstacles on the digital map of a ...
Added: February 26, 2017
Multilayer cognitive architecture for UAV control
Emel’yanov S., Makarov D., Panov A. I. et al., Cognitive Systems Research 2016 Vol. 39 P. 58–72
Extensive use of unmanned aerial vehicles (UAVs) in recent years has induced the rapid growth of research areas related to UAV production. Among these, the design of control systems capable of automating a wide range of UAV activities is one of the most actively explored and evolving. Currently, researchers and developers are interested in designing ...
Added: February 9, 2016
  • About
  • About
  • Key Figures & Facts
  • Sustainability at HSE University
  • Faculties & Departments
  • International Partnerships
  • Faculty & Staff
  • HSE Buildings
  • HSE University for Persons with Disabilities
  • Public Enquiries
  • Studies
  • Admissions
  • Programme Catalogue
  • Undergraduate
  • Graduate
  • Exchange Programmes
  • Summer University
  • Summer Schools
  • Semester in Moscow
  • Business Internship
  • Research
  • International Laboratories
  • Research Centres
  • Research Projects
  • Monitoring Studies
  • Conferences & Seminars
  • Academic Jobs
  • Yasin (April) International Academic Conference on Economic and Social Development
  • Media & Resources
  • Publications by staff
  • HSE Journals
  • Publishing House
  • iq.hse.ru: commentary by HSE experts
  • Library
  • Economic & Social Data Archive
  • Video
  • HSE Repository of Socio-Economic Information
  • HSE1993–2026
  • Contacts
  • Copyright
  • Privacy Policy
  • Site Map
Edit