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| HAL: hal-00462486, version 1 |
| DOI: 10.1016/j.automatica.2010.05.001 |
| Detailed view |  Export this paper |
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| Automatica 46, 8 (2010) 1305-1309 |
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| Motion planning for flat systems using positiveB-splines: An LMI approach |
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| Christophe Louembet 1Franck Cazaurang 2 |
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| (2010) |
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| In this paper, the motion planning problem is studied for nonlinear differentially flat systems using B-splines parametrization of the flat output history. In order to satisfy the constraints continuously in time, the motion planning problem is transformed into a B-splines positivity problem. The latter problem is formulated as a convex semidefinite programming problem by means of a non-negative piecewise polynomial functions description based on sum of squares decomposition. The contribution of the paper is thus a one-step design procedure for motion planning that satisfies constraints continuously in time where usual B-spline and collocation techniques need post-analysis. Finally, an example of flexible link manipulator motion is presented to illustrate the overall approach. |
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| 1: | Laboratoire d'analyse et d'architecture des systèmes (LAAS) |
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CNRS : UPR8001 – Université Paul Sabatier - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées de Toulouse |
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| 2: | Laboratoire de l'intégration, du matériau au système (IMS) |
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CNRS : UMR5218 – Université Sciences et Technologies - Bordeaux I – Ecole Nationale Supérieure d'Electronique, Informatique et Radiocommunications de Bordeaux – École Nationale Supérieure de Chimie et de Physique de Bordeaux |
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| Subject | : | Engineering Sciences/Automatic |
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| Motion planning – Nonlinear differentially flat systems – B-splines positivity – LMI. |
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| hal-00462486, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00462486 | |
| oai:hal.archives-ouvertes.fr:hal-00462486 | |
| From: Franck Cazaurang | |
| Submitted on: Tuesday, 9 March 2010 22:35:53 | |
| Updated on: Thursday, 28 October 2010 19:21:25 | |
