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1篇 您的检索式：作者名="Menglu LAN"

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		题名	作者	年代	出处	被引量
	1	Axis-coupled trajectory generation for chains of integrators through smoothing splines显示文摘Integrator based model is used to describe a wide range of systems in robotics. In this paper, we present an axis-coupled trajectory generation algorithm for chains of integrators with an arbitrary order. Special notice has been given to problems with pre-existing nominal plans, which are common in robotic applications. It also handles various type of constraints that can be satisfied on an entire time interval, including non-convex ones which can be transformed into a series of convex constraints through time segmentation. The proposed approach results in a linearly constrained quadratic programming problem, which can be solved effectively with off-the-shelf solvers. A closed-form solution is achievable with only the boundary constraints considered. Finally, the proposed method is tested in real experiments using quadrotors which represent high-order integrator systems.	Shupeng LAI Menglu LAN Kehong GONG Ben M. CHEN	2019	Control Theory and Technology2019，17，1：	1

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