KFU. Card publication. On Motion Planning and Control for Partially Differentially Flat Systems

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

ON MOTION PLANNING AND CONTROL FOR PARTIALLY DIFFERENTIALLY FLAT SYSTEMS

Form of presentation

Articles in international journals and collections

Year of publication

2021

Язык

английский

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Bai Y. On Motion Planning and Control for Partially Differentially Flat Systems / Svinin M., Magid E., Wang Y. // Robotica. - 2021. - Vol. 39(4). - p. 718-734.

Annotation

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.

Keywords

Motion planning and control, Underactuated systems, Partial differential flatness

The name of the journal

Robotica

URL

https://www.cambridge.org/core/journals/robotica/article/on-motion-planning-and-control-for-partially-differentially-flat-systems/B1E987D4F11BD1EE1B7C8D7B946DCC7C

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257335&p_lang=2

Resource files

File name	Size (MB)	Format
2021_On_Motion_Planning_and_Control_for_Partially_Differentially_Flat_Systems.pdf	1,06	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Bai Y. On Motion Planning and Control for Partially Differentially Flat Systems / Svinin M., Magid E., Wang Y. // Robotica. - 2021. - Vol. 39(4). - p. 718-734.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=257335&p_lang=2	ru_RU
dc.description.abstract	Robotica	ru_RU
dc.description.abstract	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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Motion planning and control	ru_RU
dc.subject	Underactuated systems	ru_RU
dc.subject	Partial differential flatness	ru_RU
dc.title	On Motion Planning and Control for Partially Differentially Flat Systems	ru_RU
dc.type	Articles in international journals and collections	ru_RU