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MOTION PLANNING FOR A LINEARIZED KORTEWEG-DE VRIES EQUATION WITH BOUNDARY CONTROL
Béatrice Laroche* Philippe Martin**
* Laboratoire des Signaux et Systèmes, CNRS/Supélec/Université
Paris-Sud, 3 rue Joliot-Curie, 91190 Gif sur Yvette, France
laroche@lss.supelec.fr
** Centre Automatique et Systèmes, École des Mines de Paris
35 rue Saint-Honoré, 77305 Fontainebleau, France
martin@cas.ensmp.fr
Explicit motion planning of a linearized Korteweg-de Vries equation with boundary control is achieved. The control is obtained through a “parametrization” of the trajectories of the system which is a generalization of the Brunovsky decomposition for finite-dimensional linear systems.
Keywords: boundary control, motion planning, Korteweg-de Vries equation, Brunovsky form, flatness, controllability
Session slot T-Tu-M14: Linear systems theory/Area code 2b : Linear Systems
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