01426nas a2200181   4500008004100000245006700041210006700108300001400175520084200189653002101031653001301052100001701065700001301082700001501095700001501110700001401125856010501139       2006                        eng d00aSymbolic Control for Underactuated Differentially Flat Systems0 aSymbolic Control for Underactuated Differentially Flat Systems  a1649-16543 a<p>In this paper we address the problem of generating input plans to steer complex dynamical systems in an obstacle-free environment. Plans considered admit a finite description length and are constructed by words on an alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. Moreover, we illustrate by simulations the power of the proposed method, solving the steering problem for two examples in the class of underactuated systems, which have attracted wide attention in the recent literature.</p>
10aEmbedded Control10aRobotics1 aFagiolini, A1 aGreco, L1 aBicchi, A.1 aPiccoli, B1 aMarigo, A  uhttp://118699.obes.asia/publications/symbolic-control-underactuated-differentially-flat-systems.html