On Motion Planning and Control for Partially Differentially Flat Systems. Issue 4 (16th April 2021)

• Record Type: Journal Article
• Authors: Bai, Yang; Svinin, Mikhail; Magid, Evgeni; Wang, Yujie
• Is Part Of: Robotica. Volume 39:Issue 4(2021)
• Page Start: 718
• Page End: 734
• Publication Date: 2021-04-16
• Subjects: Motion planning and control, -- Underactuated systems, -- Partial differential flatness; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574720000685
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: 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.