论文标题
对非线性有限维平面系统的限制
Constraints on Nonlinear Finite Dimensional Flat Systems
论文作者
论文摘要
本章介绍了一种以统一的方式嵌入输入/状态/输出约束的方法，以差异化系统的轨迹设计。为此，我们将平面输出（或参考轨迹）专业为曲线。使用平面性属性，系统的输入/状态可以表示为Bezier弯曲的平坦输出及其衍生物的组合。因此，我们明确获得输入/状态曲线的控制点的表达式，作为平面输出控制点的组合。通过将所需的约束应用于后一个控制点，我们找到了输出控制点的可行区域，即一组可行的参考轨迹。
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as Bezier curves. Using the flatness property, the system's inputs/states can be expressed as a combination of Bezier curved flat outputs and their derivatives. Consequently, we explicitly obtain the expressions of the control points of the inputs/states Bezier curves as a combination of the control points of the flat outputs. By applying desired constraints to the latter control points, we find the feasible regions for the output Bezier control points i.e. a set of feasible reference trajectories.
