Abstract
Motion planning or trajectory planning, respectively, refers to the design of an open-loop control to achieve desired trajectories for the system states or outputs. Given distributed parameter systems that are governed by partial differential equations (PDEs), this requires to take into account the spatial-temporal system dynamics. In this case flatness-based techniques provide a systematic motion planning approach, which is based on the parametrization of any system variable by means of a flat or basic output. With this, the motion planning problem can be solved rather intuitively as is illustrated subsequently for linear and semi-linear PDEs. In addition constraints on system input or states can be taken into account systematically by introducing a dynamic optimization problem for the computation of the flat output trajectory.
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Notes
- 1.
Expressions are for the sake of simplicity in the following only written for the input parametrization. The state parametrization follows accordingly.
- 2.
Classically stationary solutions are to be defined in terms of stationary input values .
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Meurer, T. (2020). Motion Planning for PDEs. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_14-2
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DOI: https://doi.org/10.1007/978-1-4471-5102-9_14-2
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Latest
Motion Planning for PDEs- Published:
- 20 November 2019
DOI: https://doi.org/10.1007/978-1-4471-5102-9_14-2
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Motion Planning for PDEs- Published:
- 14 March 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_14-1