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 |
|