Motion planning for flat systems using positive B-splines: an LMI approach

DOI10.1016/J.AUTOMATICA.2010.05.001zbMath1204.93059OpenAlexW2040164343MaRDI QIDQ608434

Christophe Louembet, Ali Zolghadri, Franck Cazaurang

Publication date: 25 November 2010

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2010.05.001

zbMATH Keywords

LMImotion planningB-spline positivitynonlinear differentially flat systems

Mathematics Subject Classification ID

Numerical computation using splines (65D07) Semidefinite programming (90C22) Nonlinear systems in control theory (93C10)

Related Items (3)

An approximate characterisation of the set of feasible trajectories for constrained flat systems ⋮ Bang-bang optimal control for differentially flat systems using mapped pseudospectral method and analytic homotopic approach ⋮ Flatness-Based Low-Thrust Trajectory Optimization for Spacecraft Proximity Operations

Uses Software

• SDPT3
• YALMIP
• OTIS

Cites Work

• A practical guide to splines
• LMIs for constrained polynomial interpolation with application in trajectory planning
• On Polya frequency functions. IV: The fundamental spline functions and their limits
• Direct trajectory optimization using nonlinear programming and collocation
• SDPT3 — A Matlab software package for semidefinite programming, Version 1.3
• A Lie-Backlund approach to equivalence and flatness of nonlinear systems
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