Geometric Approaches to Control in the Presence of Magnitude ans Rate Saturations

Murray, Richard M. (1999) Geometric Approaches to Control in the Presence of Magnitude ans Rate Saturations. Technical Report. California Institute of Technology. [CaltechCDSTR:1999.CIT-CDS-99-001]

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Abstract

This paper gives a survey of some recent results on control of systems with magnitude and rate limits, motivated by problems in real-time trajectory generation and tracking for unmanned aerial vehicles. Two problems are considered: stabilization using ``nonlinear wrappers'' to rescale a given control law and real-time trajectory generation using differential flatness. For both problems, simplified versions of the general problem are studied using tools from differential geometry and nonlinear control to give insights into the limitations imposed by magnitude and rate limits and provide insights into constructive solutions to the trajectory generation and tracking problems.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	4
Deposited By:	Richard M. Murray
Deposited On:	23 September 2002
Unique Identifier:	CaltechCDSTR:1999.CIT-CDS-99-001
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1999.CIT-CDS-99-001
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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