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On Motion Planning and Control for Partially Differentially Flat Systems

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dc.contributor.author Bai Y.
dc.contributor.author Svinin M.
dc.contributor.author Magid E.
dc.contributor.author Wang Y.
dc.date.accessioned 2021-02-25T20:34:45Z
dc.date.available 2021-02-25T20:34:45Z
dc.date.issued 2020
dc.identifier.issn 0263-5747
dc.identifier.uri https://dspace.kpfu.ru/xmlui/handle/net/161819
dc.description.abstract Copyright © The Author(s), 2020. Published by Cambridge University Press. This paper deals with motion planning and control problems for a class of partially differentially flat systems. They possess a feature that the derivative of the fiber variable can be represented purely by the base variable and its derivatives. Based on this feature, a Beta function-based motion planning algorithm is proposed with less computational cost compared with the optimal control formulation while providing similar system performance. Then, an adaptive controller is constructed through a function approximation technique-based approach. Finally, the feasibility of the proposed motion planning and control algorithms is verified by simulations.
dc.relation.ispartofseries Robotica
dc.subject Motion planning and control
dc.subject Partial differential flatness
dc.subject Underactuated systems
dc.title On Motion Planning and Control for Partially Differentially Flat Systems
dc.type Article
dc.collection Публикации сотрудников КФУ
dc.source.id SCOPUS02635747-2020-SID85090299193

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  • Публикации сотрудников КФУ Scopus [24551]
    Коллекция содержит публикации сотрудников Казанского федерального (до 2010 года Казанского государственного) университета, проиндексированные в БД Scopus, начиная с 1970г.

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