(Department seminar no. 47)

Time: November, 17th, 2016, 11:15
Place: room 208 C-3

Speaker: M. Janiak

Subject:  Task priority Lifted Newton method

 We will present the task priority Lifted Newton algorithm in application to trajectory reproduction problem. The trajectory reproduction problem is formulated as the constrained motion planning problem, whereas constraints reflect the distance in the task space between the system output and the desired trajectory. The original constrained motion planning problem is replaced by an unconstrained one addressed in an extended control system representation. Solutions of example trajectory reproduction problems for the kinematic car type platform illustrate the theoretical concepts.