Gap-singular systems: definition and consequences in trajectory planning
(2009) International Journal of Control — Vol. 82, n° 5, p. 837-848 (2009)
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- Abstract
- This article introduces the concept of gap-singularities to underline particular phenomena related to the choice of the outputs in some non-linear systems. It is shown that, when bounds on the variables are considered, this property induces a topological isolation of the gap-singular trajectories in the outputs domain. In the context of differentially flat systems, a procedure to detect gap-singularities is provided because it is related to the existence of a singularity of flatness. The examples that are presented in this article show that taking gap-singularities into account can improve some trajectory planning algorithms based on an optimal control approach like in the Nonlinear Trajectory Generation software.
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Coulaud, J.-B., & Campion, G. (2009). Gap-singular systems: definition and consequences in trajectory planning. International Journal of Control, 82(5), 837-848. https://doi.org/10.1080/00207170802342826 (Original work published 2009)