近似反馈线性化系统的轨迹规划

1993 American Control Conference Pub Date : 1993-06-02 DOI:10.23919/ACC.1993.4793291

E. C. Gwo, J. Hauser

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引用次数: 2

摘要

在本文中，我们使用b样条平滑给定的期望轨迹，使其能够更有效地被近似反馈线性化系统跟踪。选择b样条的阶数并进行优化后，得到的光滑近似轨迹在给定余量范围内接近指定轨迹，且该近似轨迹的攻击性最小。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory Planning for Approximately Feedback Linearized Systems

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.

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1993 American Control Conference

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