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Optimal exact path-following for constrained differentially flat systems
Publikationstyp
Conference Paper
Date Issued
2011
Sprache
English
Author(s)
Journal
Volume
44
Issue
1 PART 1
Start Page
9875
End Page
9880
Citation
18th IFAC World Congress International Federation of Automatic Control (IFAC 2011)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
Elsevier
ISSN
14746670
ISBN
978-3-902661-93-7
We propose a dynamic optimization approach to calculate optimal feedforward controls for exact path-following problems of differentially at systems. In addition to the derivation of a small dimensional optimal control problem, we provide easily checkable conditions on the existence of inputs guaranteeing that a given path is exactly followable in the presence of constraints on states and inputs. Our approach is based on the projection of the feedforward controlled nonlinear MIMO dynamics along a geometric path onto a linear single-input system in Brunovský normal form. The presented results indicate how the computation of admissible trajectories for set-point changes can be simplified by relying on so called steady state consistent paths. The set-point change of a Van der Vusse reactor is considered as an example. © 2011 IFAC.
Subjects
Differentially at systems
Input and state constraints
Optimal control
Path-following
DDC Class
004: Computer Sciences
621: Applied Physics