Title:
Time and Output Warping of Control Systems: Comparing and Imitating Motions
Time and Output Warping of Control Systems: Comparing and Imitating Motions
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Author(s)
Kingston, Peter
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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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.
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Date Issued
2010-07
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Text
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Proceedings