Departmental Papers (ESE)

Document Type

Journal Article

Date of this Version

April 2005

Comments

Postprint version. Published in Automatica, Volume 41, Issue 4, April 2005, pages 701-708.
Publisher URL: http://dx.doi.org/10.1016/j.automatica.2004.11.008

Abstract

Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. The approach is based on the recent notion of φ-related control systems. Given a control affine system satisfying certain assumptions, we construct a φ-related control system of smaller dimension. Trajectories designed for the smaller, abstracted system are guaranteed, by construction, to be feasible for the original system. Constructive procedures are provided for refining trajectories from the coarser to the more detailed system.

Keywords

Trajectory refinement, phi-related systems

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Date Posted: 14 April 2006

This document has been peer reviewed.