LMIs for constrained polynomial interpolation with application in trajectory planning

  title={LMIs for constrained polynomial interpolation with application in trajectory planning},
  author={Didier Henrion and Jean B. Lasserre},
  journal={2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)},
We consider an open-loop trajectory planning problem for linear systems with bound constraints originating from saturations or physical limitations. Using an algebraic approach and results on positive polynomials, we show that this control problem can be cast into a constrained polynomial interpolation problem admitting a convex linear matrix inequality (LMI) formulation 
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