Conference Proceedings

Reference State Trajectory Generation for Output Tracking with Constraints using Search Trees

Jonathan Eden, Ying Tan, Darwin Lau, Denny Oetomo

2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | IEEE | Published : 2018

Abstract

This paper generates a reference state trajectory from a given reference output trajectory for redundant nonlinear affine dynamic systems subject to input, state and output constraints. Extending upon the expansive search tree (EST) methodology, a new probabilistic sampling method is proposed to address time dependence and output mappings. It is shown that the methodology is able to find a feasible solution given constraints, if such a solution exists. The use of the proposed methodology is illustrated by considering the end effector tracking of a multi-link cable-driven parallel robot.

Grants

Awarded by Research Grants Council


Funding Acknowledgements

The work was supported by the grants from the Early Career Scheme sponsored by the the Research Grants Council (Reference No. 24200516).