{"title":"Polynomial-Based Trajectory Planning for Affine Dynamical Systems under State and Input Constraints","authors":"A. Golubev, N. V. Utkina","doi":"10.1109/STAB49150.2020.9140697","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":166223,"journal":{"name":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/STAB49150.2020.9140697","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
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.
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