LMIs for constrained polynomial interpolation with application in trajectory planning

@article{Henrion2004LMIsFC,
  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)},
  year={2004},
  pages={220-224}
}
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 
Highly Cited
This paper has 26 citations. REVIEW CITATIONS

Citations

Publications citing this paper.
Showing 1-10 of 17 extracted citations

On splines and polynomial tools for constrained motion planning

18th Mediterranean Conference on Control and Automation, MED'10 • 2010
View 5 Excerpts
Highly Influenced

Trajectory planning and trajectory tracking for a small-scale helicopter in autorotation

Skander Taamallaha, Xavier Bomboisb, Paul M. J. Van den Hofc
2016
View 1 Excerpt

References

Publications referenced by this paper.
Showing 1-10 of 10 references

Flat output characterization for linear systems using polynomial matrices

Systems & Control Letters • 2003
View 3 Excerpts
Highly Influenced

Discrete Linear Control: The Polynomial Equation Approach

IEEE Transactions on Systems, Man, and Cybernetics • 1981
View 3 Excerpts
Highly Influenced

Chapter 17

Yu. Nesterov. Squared Functional Systems, Optimization Problems
pp. 405–440 in H. Frenk, K. Roos, T. Terlaky and S. Zhang (Editors). High Performance Optimization. Kluwer Academic Publishers, Dordrecht, The Netherlands, • 2000
View 1 Excerpt

Continuous-time linear predictive control and flatness: a module-theoretic setting with examples

M. Fliess, R. Marquez
International Journal of Control, Vol. 73, No. 7, pp. 606–623 • 2000
View 2 Excerpts

Czech Republic

PolyX, Ltd. The Polynomial Toolbox for Matlab. Prague
Version 2.5 released in • 2000

Sturm

J. F
Using SeDuMi 1.02, a Matlab Toolbox for Optimization over Symmetric Cones. Optimization Methods and Software, Vol. 11-12, pp. 625–653, • 1999
View 1 Excerpt

Linear Systems

T. Kailath
Prentice Hall, Englewood Cliffs, NJ • 1980
View 1 Excerpt

Similar Papers

Loading similar papers…