6533b859fe1ef96bd12b81a5

RESEARCH PRODUCT

Symbolic control for underactuated differentially flat systems

Luca GrecoAdriano FagioliniA. MarigoAntonio BicchiBenedetto Piccoli

subject

Channel capacityNonlinear systemCapacity planningSettore ING-INF/04 - AutomaticaDynamical systems theoryControl theoryUnderactuationControl systemdynamic systemSymbolic controlMotion controlTime complexityMathematics

description

In this paper we address the problem of generating input plans to steer complex dynamical systems in an obstacle-free environment. Plans considered admit a finite description length and are constructed by words on an alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. Moreover, we illustrate by simulations the power of the proposed method, solving the steering problem for an example in the class of underactuated systems, which have attracted wide attention in the recent literature

yearjournalcountryeditionlanguage
2006-07-10Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.
https://doi.org/10.1109/robot.2006.1641943