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

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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.
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