On Motion Planning and Control for Partially Differentially Flat Systems

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.