Optimal Exact Path-Following for Constrained Differentially Flat Systems

Faulwasser, Timm; Hagenmeyer, Veit; Findeisen, Rolf

doi:10.3182/20110828-6-it-1002.03132

Cited by 25 publications

(38 citation statements)

References 14 publications

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“…The main idea of the proposed approach is to compute feedforward inputs by means of a receding horizon dynamic optimization, which is closely related to predictive path-following concepts and optimization-based approaches to path following. We refer to Faulwasser 9, 10 and Mayne 14 for the former and to Faulwasser 8,15 for the latter.…”

Section: Optimization-based Computation Of Feedforward Controlsmentioning

confidence: 99%

See 1 more Smart Citation

Optimization-based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter

Dauer

Faulwasser

Lorenz

et al. 2013

AIAA Guidance, Navigation, and Control (GNC) Conference

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This paper presents an optimization-based approach to let an unmanned helicopter follow a geometrically defined path. In particular, this approach extends reference model following concepts. Instead of using a model of the vehicle dynamics, the optimization is based on the reference model of the controller. By this means, we can calculate the timewise progress on the path by means of dynamic optimization without exact knowledge of the real helicopter dynamics. The progression on the path, is defined as a dynamic system subject to an additional virtual control input. The inputs of the reference model and that of the timing law are the decision variables used in the dynamic optimization which is so far performed offline. It will be shown that hereby, an accurate following of the path is possible although the actually identified flight mechanical model is limited to a linear hover model. Furthermore, the approach allows to take constraints on inputs and states into account. Simulation results as well as flight tests conducted with the artis testbed underline that good performance and constraints satisfaction can be achieved.

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Section: Optimization-based Computation Of Feedforward Controlsmentioning

confidence: 99%

“…[8][9][10]15 The conceptual idea of path following is based on a simple observation: If the desired flight path is described as a reference trajectory it implies an explicit requirement when to be where on the reference. In a path-following setup, however, the flight path is considered as a geometric reference.…”

mentioning

confidence: 99%

Optimization-based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter

Dauer

Faulwasser

Lorenz

et al. 2013

AIAA Guidance, Navigation, and Control (GNC) Conference

Self Cite

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“…[1,6]. We use this freedom of choosing t → θ(t) to rigorously ensure the satisfaction of state and input constraints.…”

Section: Reformulation As Path-following Problemmentioning

confidence: 99%

“…6 To avoid long and vast expressions we give here only functional dependencies of the flat parametrizations of states and inputs…”

Section: Example: Trajectory Generation For a Cstrmentioning

confidence: 99%

Constrained reachability and trajectory generation for flat systems

Faulwasser¹,

Hagenmeyer²,

Findeisen³

2014

Automatica

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We consider the problem of trajectory generation for constrained differentially flat systems. Based on the topological properties of the set of admissible steady state values of a flat output we derive conditions which allow for an a priori verification of the feasibility of constrained set-point changes. We propose to utilize this relation to generate feasible trajectories. To this end we suggest to split the trajectory generation problem into two stages: (a) the planning of geometric reference paths in the flat output space combined with (b) an assignment of a dynamic motion to these paths. This assignment is based on a reduced optimal control problem. The unique feature of the approach is that due to the specific construction of the paths the optimal control problem to be solved is guaranteed to be feasible. To illustrate our results we consider a Van de Vusse reactor as an example.

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“…[14], [15], [43], [44], [55]). We here propose to embed the constraint fulfillment in the trajectory design.…”

Section: Introductionmentioning

confidence: 99%

Euler-Bernoulli beam flatness based control with constraints

Bekcheva

Greco

Mounier

et al. 2015

2015 IEEE 9th International Workshop on Multidimensional (nD) Systems (nDS)

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Abstract-The control of infinite dimensional systems with constraints is a notoriously difficult task. We consider a general class of linear systems governed by partial differential equations with boundary control. This problem is here treated in a quite natural manner through the freeness property, the analogue of differential flatness for linear systems. Any variable is then expressed as infinite order differential operators applied to the basis components, the analogue of the flat output components. The specialisation of the basis components are functions which are both of Gevrey regularity (in order for the infinite order differential operators to be convergent) and pertaining the flexibility of polynomial splines. An illustration is made through an Euler Bernoulli beam example.

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Optimal Exact Path-Following for Constrained Differentially Flat Systems

Cited by 25 publications

References 14 publications

Optimization-based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter

Optimization-based Feedforward Path Following for Model Reference Adaptive Control of an Unmanned Helicopter

Constrained reachability and trajectory generation for flat systems

Euler-Bernoulli beam flatness based control with constraints

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