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AUTOMATICA
2005

Hierarchical trajectory refinement for a class of nonlinear systems

8 years 4 months ago
Hierarchical trajectory refinement for a class of nonlinear systems
Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. The approach is based on the recent notion of -related control systems. Given a control affine system satisfying certain assumptions, we construct a -related control system of smaller dimension. Trajectories designed for the abstracted system are guaranteed, by construction, to be feasible for the original system. Constructive procedures are provided for refining trajectories from the coarser to the more detailed system. 2004 Elsevier Ltd. All rights reserved.
Paulo Tabuada, George J. Pappas
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2005
Where AUTOMATICA
Authors Paulo Tabuada, George J. Pappas
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