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

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38690

Title: Time and Output Warping of Control Systems: Comparing and Imitating Motions
Author: Kingston, Peter ; Egerstedt, Magnus B.
Abstract: The problem of making one system "mimic" a motion generated by another is studied. To address this, an optimal tracking problem is introduced that, in addition to tracking, optimizes over functions that deform or “warp” the time axis and the output space. Parametric and nonparametric versions of the time-warped tracking problem are presented and reduced to standard Bolza problems. The output warping problem is treated for affine and piecewise affine output warping functions. Example applications are given, including that of controlling a marionette to mimic a human dancer.
Description: NOTICE: this is the author's version of a work that was accepted for publication in Automatica. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Automatica, 2011, doi:10.1016/j.automatica.2011.03.004
Type: Pre-print
URI: http://hdl.handle.net/1853/38690
ISSN: 0005-1098
Citation: P. Kingston and M. Egerstedt. Time and Output Warping of Control Systems: Comparing and Imitating Motions. Automatica. Accepted for publication. To appear 2011.
Date: 2011
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
Elsevier
Subject: Optimal control
Output warping
Time warping
Tracking
Robotics

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