Analytical Multi-Point Trajectory Generation for Differentially Flat Systems with Output Constraints
Analytical Multi-Point Trajectory Generation for Differentially Flat Systems with Output Constraints
复制标题
具有输出约束的差分平坦系统的分析多点轨迹生成
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
O. Sawodny
中科院分区：
文献类型：
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作者：
T. Ruppel;Karl Lukas Knierim;O. Sawodny
摘要本文提出了一种微分平坦系统的解析离线多点轨迹生成方法。对于沿着给定控制点集的动态系统的控制，当存在输入和状态约束时，需要多点轨迹生成。它是假设微分约束平面坐标可以明确制定。轨迹方案是基于解析地求解一组多项式方程来参数化n次连续可微分段过渡多项式，其近似时间最优轨迹。与数值优化相比，用于确定有效轨迹的计算工作量较低。以三自由度门式起重机为例，给出了多点轨迹生成问题。
Abstract In this paper, an analytical off-line multi-point trajectory generation scheme is presented for differentially flat systems. For control of dynamical systems along a given set of control points, multi-point trajectory generation is required when input and state constraints exist. It is assumed that differential constraints for flat coordinates can be formulated explicitly. The trajectory scheme is based on analytically solving a set of polynomial equations to parameterize n-times continuously differentiable segmented transition polynomials, that approximate time optimal trajectories. The computational effort for determining valid trajectories is low in comparison to numerical optimization. As an example, a multi-point trajectory generation problem for a 3-DOF gantry crane is presented.