Trajectory planning in the infinity norm for linear control systems

Abstract

When planning trajectories, a reasonable demand on the generated curves is that they interpolate through given points, or given intervals, at given specified times, or that they go through these points or intervals at times lying in specified time windows. This problem is addressed here as an optimal control problem, minimizing the infinity norm of the inputs of a discretized linear control system since the infinity norm minimization problem arises naturally when doing trajectory planning for both controlled switching systems and nonholonomic robotic systems. 1 Introduction In this article we look at the problem of finding the control that drives a given linear control system between predefined states, with minimal infinity norm. Instead of solving this hard problem analytically, we show how to This work was sponsored in part by the Swedish Foundation for Strategic Research through its Centre for Autonomous Systems at KTH. y This work was supported in part by NASA Grants NAG 2-90...