Proceedings ArticleDOI
Methods for trajectory generation in a magnetic-levitation system under constraints
Fajar Suryawan,José A. De Doná,Maria M. Seron +2 more
- pp 945-950
TLDR
In this paper, the authors discuss two methods to generate trajectories for a magnetic-levitation (Maglev) system in the presence of constraints and compare each method's performance, based on the notion of differential flatness and spline parametrisation of every signal.Abstract:
In this work, we discuss two methods to generate trajectories for a magnetic-levitation (Maglev) system in the presence of constraints and compare each method's performance. The methods are based on the notion of differential flatness and spline parametrisation of every signal. The first method uses the nonlinear model of the plant, which turns out to belong to the class of flat systems. The second method uses a linearised version of the plant model around an operating point. In every case, a continuous-time description is used. Experimental results on a real Maglev system, reported here, show that, in most scenarios, the nonlinear and linearised model produce almost similar, indistinguishable trajectories.read more
Citations
More filters
Proceedings ArticleDOI
Fault detection, isolation, and recovery using spline tools and differential flatness with application to a magnetic lévitation system
TL;DR: In this article, the authors discuss fault detection and isolation for continuous-time systems using B-splines and the notion of differential flatness, which is used to produce signals from the flat outputs, and filter out the noise, are based on B-Splines parametrisation.
Proceedings ArticleDOI
Obstacle avoidance via B-spline parametrizations of flat trajectories
TL;DR: This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework with proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization and shows that the constraints can be validated at all times.
Dissertation
Control of Multi-Agent Dynamical Systems in the Presence of Constraints
TL;DR: In this article, the authors propose an approach based on the theory of commande optimale of systemes dynamiques multi-agents in the presence of contraintes to solve the problem of formation of multi-agent ensembles.
Book ChapterDOI
Trajectory Generation with Way-Point Constraints for UAV Systems
Florin Stoican,Dan Popescu +1 more
TL;DR: Using differential flatness for trajectory generation and B-splines for the flat output parameterization, the current study concentrates on flat descriptions which respect to UAV dynamics and verify way-point constraints.
Posted Content
Obstacle avoidance via B-spline parameterizations of flat trajectories
TL;DR: In this article, the collision avoidance problem in a multi-agent multi-obstacle framework was considered and the originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for trajectory generation and B-splines for the flat output parametrization.
References
More filters
Book
A practical guide to splines
TL;DR: This book presents those parts of the theory which are especially useful in calculations and stresses the representation of splines as linear combinations of B-splines as well as specific approximation methods, interpolation, smoothing and least-squares approximation, the solution of an ordinary differential equation by collocation, curve fitting, and surface fitting.
Book
The NURBS Book
Les A. Piegl,Wayne Tiller +1 more
TL;DR: This chapter discusses the construction of B-spline Curves and Surfaces using Bezier Curves, as well as five Fundamental Geometric Algorithms, and their application to Curve Interpolation.
Journal ArticleDOI
Flatness and defect of non-linear systems: introductory theory and examples
TL;DR: In this paper, the authors introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous feedback, which subsumes the physical properties of a linearizing output and provides another nonlinear extension of Kalman's controllability.
Book
Differentially Flat Systems
TL;DR: This chapter discusses linear time-Invariant SISO Systems, MIMO Systems, and Flatness and Optimal Trajectories.
Journal ArticleDOI
Modeling and nonlinear control of magnetic levitation systems
A. El Hajjaji,Mustapha Ouladsine +1 more
TL;DR: A nonlinear model for magnetic levitation systems which is validated with experimental measurements and a real-time implementation of this model based on differential geometry is developed.