论文信息 - Solution of a Terminal Control Problem under State Constraints

Solution of a Terminal Control Problem under State Constraints

Abstract We consider the terminal control problem for affine dynamical systems that are differentially flat. Two different analytical approaches are proposed in the presence of state constraints. One is based on the parametric set of functions that satisfy an integral equation. The other one utilizes time polynomials that are monotonic on the relevant time intervals. As an illustrative example the motion of a 3-DoF Delta parallel robot is considered.

Alexander P. Krishchenko | Alexey E. Golubev | Nadezhda V. Utkina | Mikhail A. Velishchanskiy

[1] Stephen J. Wright,et al. Nonlinear Predictive Control and Moving Horizon Estimation — An Introductory Overview , 1999 .

[2] David Q. Mayne,et al. Constrained model predictive control: Stability and optimality , 2000, Autom..

[3] A. Krishchenko,et al. Terminal control of spatial motion of flying vehicles , 2008 .

[4] M. Fliess,et al. Flatness and defect of non-linear systems: introductory theory and examples , 1995 .

[5] S. Agrawal,et al. Differential-Flatness-Based Planning and Control of a Wheeled Mobile Manipulator—Theory and Experiment , 2011, IEEE/ASME Transactions on Mechatronics.

[6] Alexander P. Krishchenko,et al. Controllability of nonlinear systems and synthesis of control algorithms , 1981 .

[7] Sunil Kumar Agrawal,et al. Planning and control of under-actuated mobile manipulators using differential flatness , 2010, Auton. Robots.