КФУ. Карточка публикации. On Motion Planning and Control for Partially Differentially Flat Systems

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ON MOTION PLANNING AND CONTROL FOR PARTIALLY DIFFERENTIALLY FLAT SYSTEMS

Форма представления

Статьи в зарубежных журналах и сборниках

Год публикации

2021

Язык

английский

Авторы, сотрудники КФУ

Магид Евгений Аркадьевич, автор

Библиографическое описание на языке оригинала

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.

Аннотация

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.

Ключевые слова

Motion planning and control, Underactuated systems, Partial differential flatness

Название журнала

Robotica

URL

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

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https://repository.kpfu.ru/?p_id=257335

Файлы ресурса

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2021_On_Motion_Planning_and_Control_for_Partially_Differentially_Flat_Systems.pdf	1,06	pdf	посмотреть / скачать

Полная запись метаданных

Поле DC	Значение	Язык
dc.contributor.author	Магид Евгений Аркадьевич	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/?p_id=257335	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	Статьи в зарубежных журналах и сборниках	ru_RU