Implicit Trajectory Planning for Feedback Linearizable Systems: A Time-varying Optimization Approach

13 Mar 2020 • Zheng Tianqi • Simpson-Porco John • Mallada Enrique

We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying optimization problem... (read more)

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Implicit Trajectory Planning for Feedback Linearizable Systems: A Time-varying Optimization Approach

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