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Hierarchical trajectory refinement for a class of nonlinear systems
Departmental Papers (ESE)
  • Paulo Tabuada, University of Notre Dame
  • George J Pappas, University of Pennsylvania
Trajectory generation for nonlinear control systems is an important and difficult problem. In this paper, we provide a constructive method for hierarchical trajectory refinement. The approach is based on the recent notion of φ-related control systems. Given a control affine system satisfying certain assumptions, we construct a φ-related control system of smaller dimension. Trajectories designed for the smaller, abstracted system are guaranteed, by construction, to be feasible for the original system. Constructive procedures are provided for refining trajectories from the coarser to the more detailed system.
Document Type
Journal Article
Date of this Version
Postprint version. Published in Automatica, Volume 41, Issue 4, April 2005, pages 701-708.
Publisher URL:
  • Trajectory refinement,
  • phi-related systems
Citation Information
Paulo Tabuada and George J Pappas. "Hierarchical trajectory refinement for a class of nonlinear systems" (2005)
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