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Trajectory generation for a class of nonlinear systems with input and state constraints

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2 Author(s)
Kim, S.K. ; Dept. of Mech. Eng., Michigan Univ., Ann Arbor, MI, USA ; Tilbury, D.M.

Autonomous vehicles with nonlinear dynamics need to have a planned reference trajectory and a feedback controller to accomplish the task of traveling from a launch point to a goal point. Traditionally the planning stage has either been done from a purely geometrical point of view without regarding the dynamic constraints of the system, or by time-consuming numerical optimization including the dynamic constraints and input bounds. This paper presents a new way to generate a trajectory quickly when a nonlinear system is input-output linearizable while satisfying the dynamic constraints. An example of a trajectory based on a simplified nonlinear longitudinal helicopter model with minimum time criteria is presented

Published in:

American Control Conference, 2001. Proceedings of the 2001  (Volume:6 )

Date of Conference:

2001

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