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) [10.1109/ROBOT.2006.1641943].

Symbolic Control for Underactuated Differentially Flat Systems

FAGIOLINI, Adriano;
2006-01-01

Abstract

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
Settore ING-INF/04 - Automatica
0-7803-9505-0
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) [10.1109/ROBOT.2006.1641943].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/62905
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