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Motion Planning for PDEs

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Encyclopedia of Systems and Control

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Abstract

Motion planning refers to the design of an open-loop or feedforward control to realize prescribed desired paths for the system states or outputs. For distributed-parameter systems described by partial differential equations (PDEs), this requires to take into account the spatial-temporal system dynamics. Here, flatness-based techniques provide a systematic inversion-based motion planning approach, which is based on the parametrization of any system variable by means of a flat or basic output. With this, the motion planning problem can be solved rather intuitively as is illustrated for linear and semilinear PDEs.

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Author information

Authors and Affiliations

  1. Faculty of Engineering, Christian-Albrechts-University Kiel, Kiel, Germany

    Thomas Meurer

Authors
  1. Thomas Meurer
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Editor information

Editors and Affiliations

  1. Mechanical Engineering, Electrical and Computer Engineering, Boston University, Boston, MA, USA

    John Baillieul

  2. Honeywell Automation and Control Solutions, Golden Valley, MN, USA

    Tariq Samad

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© 2015 Springer-Verlag London

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Meurer, T. (2015). Motion Planning for PDEs. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5058-9_14

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