A Single Differential Equation for First-Excursion Time in a Class of Linear Systems
Author(s)Greytak, Matthew B.; Hover, Franz S.
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First-excursion times have been developed extensively in the literature for oscillators; one major application is structural dynamics of buildings. Using the fact that most closed-loop systems operate with a moderate to high damping ratio, we have derived a new procedure for calculating first-excursion times for a class of linear continuous, time-varying systems. In several examples, we show that the algorithm is both accurate and time-efficient. These are important attributes for real-time path planning in stochastic environments, and hence the work should be useful for autonomous robotic systems involving marine and air vehicles.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Journal of Dynamic Systems, Measurement, and Control
American Society of Mechanical Engineers
Greytak, Matthew B., and Franz S. Hover 2011A Single Differential Equation for First-Excursion Time in a Class of Linear Systems. Journal of Dynamic Systems, Measurement, and Control 133(6): 061020.
Author's final manuscript