Symmetry Reduction, Contact Geometry and Nonlinear Trajectory Planning

Abstract

We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and reconstruction is effective in the explicit, exact construction of planned system trajectories. We show that, while a given control system with symmetry may not be static feedback linearizable or even flat, it may nevertheless possess a flat or even linearizable symmetry reduction and from this, trajectory planning in the original system may often be carried out or greatly simplified. We employ the contact geometry of Brunovsky normal forms to develop tools for detecting and analysing these phenomena. The effectiveness of this approach is illustrated by its application to a problem in the guidance of marine vessels. A method is given for the exact and explicit planning of surface trajectories of models for the control of under-actuated ships. It is shown that a 3-degrees-of-freedom control system for an under-actuated ship has a symmetry reduction which permits us to give an elegant explicit, exact solution to this problem.