Trajectory Generation and Tracking

Abstract

This chapter expands on Section 7.5 of Feedback Systems b Aström and Murray AM08), which introduces the use of feedforward compensation in control system design. We begin with a review of the two degree of freedom design approach and then focus on the problem of generating feasible trajectories for a (nonlinear) control system. We make use of the concept of differential flatness as a tool for generating feasible trajectories. Prerequisites. Readers should be familiar with modeling of input/output control systems using differential equations, linearization of a system around an equilibrium point and state space control of linear systems, including reachability and eigenvalue assignment. Although this material supplements concepts introduced in the context of output feedback and state estimation, no knowledge of observers is required.