Reference State Trajectory Generation for Output Tracking with Constraints using Search Trees

This paper generates a reference state trajectory from a given reference output trajectory for redundant nonlinear affine dynamic systems subject to input, state and output constraints. Extending upon the expansive search tree (EST) methodology, a new probabilistic sampling method is proposed to add...

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Vydáno v:2018 Annual American Control Conference (ACC) s. 4682 - 4687
Hlavní autoři: Eden, Jonathan, Ying Tan, Lau, Darwin, Oetomo, Denny
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: AACC 01.06.2018
Témata:
End effectors
Null space
Power cables
Probability distribution
System dynamics
Trajectory
ISSN:2378-5861
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Shrnutí:This paper generates a reference state trajectory from a given reference output trajectory for redundant nonlinear affine dynamic systems subject to input, state and output constraints. Extending upon the expansive search tree (EST) methodology, a new probabilistic sampling method is proposed to address time dependence and output mappings. It is shown that the methodology is able to find a feasible solution given constraints, if such a solution exists. The use of the proposed methodology is illustrated by considering the end effector tracking of a multi-link cable-driven parallel robot.
ISSN:2378-5861
DOI:10.23919/ACC.2018.8431058