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dc.contributor.authorRoss, I. Michael
dc.contributor.authorFahroo, Fariba
dc.dateAug-04
dc.date.accessioned2013-03-07T21:43:17Z
dc.date.available2013-03-07T21:43:17Z
dc.date.issued2004-08-01
dc.identifier.urihttp://hdl.handle.net/10945/29675
dc.descriptionThe article of record as published may be located at http://ieeexplore.ieee.orgen_US
dc.descriptionIEEE Transactions on Automatic Control, vol. 49, no. 8, August 2004 (Journal Article)en_US
dc.description.abstractThis note presents some preliminary results on combining two new ideas from nonlinear control theory and dynamic optimization. We show that the computational framework facilitated by pseudospectral methods applies quite naturally and easily to Fliess implicit state variable representation of dynamical systems. The optimal motion planning problem for differentially flat systems is equivalent to a classic Bolza problem of the calculus of variations. In this note, we exploit the notion that derivatives of flat outputs given in terms of Lagrange polynomials at Legendre'Gauss'Lobatto points can be quickly computed using pseudospectral differentiation matrices. Additionally, the Legendre pseudospectral method approximates integrals by Gauss-type quadrature rules. The application of this method to the two-dimensional crane model reveals how differential flatness may be readily exploited.en_US
dc.publisherIEEEen_US
dc.relation.ispartofIEEE Transactions on Automatic Control, Vol. 49, no. 8, August 2004
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titlePseudospectral Methods for Optimal Motion Planning of Differentially Flat Systemsen_US
dc.typeConference Paperen_US
dc.contributor.corporateOptimal Guidance and Control Laboratory
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.corporateIEEE
dc.contributor.departmentApplied Mathematics
dc.subject.authorDifferential flatnessen_US
dc.subject.authoroptimal control theoryen_US
dc.subject.authorpseudospectral methods.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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