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Optimization based trajectory exploration and tracking of nonlinear systems

Output tracking is a challenging task in the control of nonlinear systems with application in several fields as aerospace, robotics and automotive.

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The control objective is to find a feedback law such that the output asymptotically tracks a reference trajectory. A preliminary step or a different point of view in the solution of the problem is the exploration of the trajectory manifold of the system,that is, the parametrization of the state-input trajectories with respect to the desired output ones. An important aspect in the solution of exploration and tracking is the presence of constraints in the system. This means that not only trajectories (curves satisfying the dynamics), but also feasible trajectories, (trajectories satisfying the constraints) must be computed.

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