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
Fagiolini, A., Greco, L., Bicchi, A., Piccoli, B., & Marigo, A. (2006). Symbolic Control for Underactuated Differentially Flat Systems. In Proceedings of IEEE International Conference on Robotics and Automation (pp.1649-1654).
Autori: | Fagiolini, A.; Greco, L.; Bicchi, A.; Piccoli, B.; Marigo, A. |
Titolo: | Symbolic Control for Underactuated Differentially Flat Systems |
Settore Scientifico Disciplinare: | Settore ING-INF/04 - Automatica |
Data di creazione: | 2006-05 |
Nome del convegno: | IEEE International Conference on Robotics and Automation |
Luogo del convegno: | Orlando (FL) |
Anno del convegno: | 15-19 May 2006 |
Data di pubblicazione: | 2006 |
Formato: | Online |
Numero di pagine: | 6 |
Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/ROBOT.2006.1641943 |
Citazione: | Fagiolini, A., Greco, L., Bicchi, A., Piccoli, B., & Marigo, A. (2006). Symbolic Control for Underactuated Differentially Flat Systems. In Proceedings of IEEE International Conference on Robotics and Automation (pp.1649-1654). |
Tipologia: | 0 - Proceedings (TIPOLOGIA NON ATTIVA) |
Appare nelle tipologie: | 0 - Proceedings (TIPOLOGIA NON ATTIVA) |
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