Departmental Papers (ESE)
Document Type
Journal Article
Date of this Version
April 2005
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
Date Posted: 14 April 2006
This document has been peer reviewed.
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