Time and Output Warping of Control Systems: Comparing and Imitating Motions

Show full item record

Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38526

Title: Time and Output Warping of Control Systems: Comparing and Imitating Motions
Author: Kingston, Peter ; Egerstedt, Magnus B.
Abstract: How can one system "mimic" a motion generated by another? To address this question we introduce an optimal tracking problem which additionally optimizes over functions which deform or "warp" the time axis and the output space. Parametric and nonparametric versions of the time-warped tracking problem are introduced and reduced to standard Bolza problems. The output warping problem is treated for piecewise affine output warping functions.
Description: © 2010 AACC Presented at the 2010 American Control Conference Marriott Waterfront, Baltimore, MD, USA; June 30-July 02, 2010.
Type: Proceedings
URI: http://hdl.handle.net/1853/38526
ISSN: 0743-1619
Citation: P. Kingston and M. Egerstedt. Time and Output Warping of Control Systems: Comparing and Imitating Motions. American Control Conference, Baltimore, MD, July 2010.
Date: 2010-07
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
American Automatic Control Council
Subject: Control systems
Tracking problem

All materials in SMARTech are protected under U.S. Copyright Law and all rights are reserved, unless otherwise specifically indicated on or in the materials.

Files in this item

Files Size Format View
05531287.pdf 811.9Kb PDF View/ Open

This item appears in the following Collection(s)

Show full item record