Departmental Papers (ESE)


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.

Document Type

Journal Article

Subject Area


Date of this Version

April 2005


Postprint version. Published in Automatica, Volume 41, Issue 4, April 2005, pages 701-708.
Publisher URL:


Trajectory refinement, phi-related systems



Date Posted: 14 April 2006

This document has been peer reviewed.