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
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Journal ArticleDOI
Receding horizon flight control for trajectory tracking of autonomous aerial vehicles
Ionela Prodan,Sorin Olaru,Ricardo Bencatel,João Borges de Sousa,Cristina Stoica,Silviu-Iulian Niculescu +5 more
TL;DR: In this paper, a predictive control strategy for UAVs in the presence of bounded disturbances is proposed to prove the feasibility of such a real-time optimization-based control design and demonstrate its tracking capabilities for the nonlinear dynamics with respect to a reference trajectory.
Journal ArticleDOI
Predictive control for trajectory tracking and decentralized navigation of multi-agent formations
TL;DR: This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader.
Proceedings ArticleDOI
Constrained trajectory generation for UAV systems using a B-spline parametrization
TL;DR: This paper extends some previous work on trajectory generation for UAV using differential flatness in combination with B-splines parametrization to generate feasible flat trajectories for nonlinear UAV dynamics while ensuring continuous constraint validation.
Journal ArticleDOI
Output feedback control of a mechanical system using magnetic levitation.
Francisco Beltran-Carbajal,Antonio Valderrabano-Gonzalez,Julio C. Rosas-Caro,Antonio Favela-Contreras +3 more
TL;DR: An output feedback control scheme is proposed for reference position trajectory tracking tasks on the flexible mechanical system and the differential flatness structural property of the system is employed for the synthesis of the controller and the signal estimation approach.
Proceedings ArticleDOI
Flat trajectory generation for way-points relaxations and obstacle avoidance
TL;DR: This paper addresses some alternatives to classical trajectory generation for an autonomous vehicle which needs to pass through a priori given way-points by using differential flatness for trajectory generation and B-splines for the flat output parametrization.
References
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Proceedings ArticleDOI
Trajectory generation for differentially flat systems via NURBS basis functions with obstacle avoidance
M.E. Flores,Mark B. Milam +1 more
TL;DR: This work presents a locally optimal real-time trajectory generation approach that judiciously exploits the properties of differential flat systems and non-uniform rational B-spline basis functions to transform an optimal control problem into a simpler, more favorable numerical computational form.
Proceedings ArticleDOI
A design methodology of tracking controllers for magnetic levitation systems
TL;DR: Using the input-state feedback linearization technique of nonlinear systems, and considering the structure of the linearizing transformation in the case of magnetic levitation systems, a linear reduced-order observer to estimate the states of theinput-state linearization is designed.
Proceedings ArticleDOI
On splines and polynomial tools for constrained motion planning
TL;DR: In this paper, an open-loop trajectory planning problem for linear systems and polynomial systems with constraints is discussed, where a spline parameterisation for the flat output, the performance output, states, and inputs is proposed.