Linear-quadratic Robust Path Tracking for a Dubins Vehicle

被引：0

作者：

Jha, Bhargav ^{[1
]}

Turetsky, Vladimir ^{[2
]}

Shima, Tal ^{[1
]}

机构：

[1] Technion Israel Inst Technol, Dept Aerosp Engn, IL-3200003 Haifa, Israel

[2] Ort Braude Coll Engn, Dept Math, 51 Snunit Str,POB 78, IL-2161002 Karmiel, Israel

来源：

2018 EUROPEAN CONTROL CONFERENCE (ECC) | 2018年

基金：

以色列科学基金会;

关键词：

TRAJECTORY TRACKING; CURVATURE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Previous theoretical results on a robust linear tracking are applied to a practical problem of trajectory tracking by a Dubins' ground vehicle. The tracking control is constructed as the optimal strategy in an auxiliary linearquadratic control problem for a linearized vehicle model. Numerical and experimental results are presented and compared. Practical improvements are proposed to circumvent real world problems such as non-ideal dynamics and control saturation. Robustness of tracking method in presence of disturbances is also shown experimentally.

引用

页码：2101 / 2106

页数：6

共 50 条

[21] Minimax Robust Optimal Control of Multiscale Linear-Quadratic Systems
Anwar, Hamza
Zhu, Quanyan
2017 51ST ANNUAL CONFERENCE ON INFORMATION SCIENCES AND SYSTEMS (CISS), 2017,
[22] ROBUST PROPERTIES OF SOLUTIONS TO LINEAR-QUADRATIC ESTIMATION AND CONTROL PROBLEMS
VANDELINDE, VD
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1977, 22 (01) : 138 - 139
[23] A Dual Quaternion Linear-Quadratic Optimal Controller for Trajectory Tracking
Marinho, M. M.
Figueredo, L. F. C.
Adorno, B. V.
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, : 4047 - 4052
[24] Three types of robust Ramsey problems in a linear-quadratic framework
Kwon, Hyosung
Miao, Jianjun
JOURNAL OF ECONOMIC DYNAMICS & CONTROL, 2017, 76 : 211 - 231
[25] ROBUST LINEAR-QUADRATIC OPTIMAL-CONTROL FOR SYSTEMS WITH LINEAR UNCERTAINTIES - COMMENT
NI, ML
CHEN, Y
INTERNATIONAL JOURNAL OF CONTROL, 1993, 58 (03) : 731 - 732
[26] Optimal Path Tracking With Dubins' Vehicles
Ghadiry, Walaaeldin
Habibi, Jalal
Aghdam, Amir G.
Zhang, Youmin
IEEE SYSTEMS JOURNAL, 2021, 15 (01): : 466 - 477
[27] Semidefinite programming: A path-following algorithm for a linear-quadratic functional
Faybusovich, L
SIAM JOURNAL ON OPTIMIZATION, 1996, 6 (04) : 1007 - 1024
[28] Linear Quadratic Zonotopic Control of Switched Systems: Application to Autonomous Vehicle Path-Tracking
Zhang, Shuang
Ifqir, Sara
Puig, Vicenc
IEEE CONTROL SYSTEMS LETTERS, 2024, 8 : 1895 - 1900
[29] Robust Optimal Control of Biobjective Linear-Quadratic System With Noisy Observation
Wang, Guangchen
Xing, Zhuangzhuang
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2024, 69 (01) : 303 - 308
[30] WOODFORD'S APPROACH TO ROBUST POLICY ANALYSIS IN A LINEAR-QUADRATIC FRAMEWORK
Kwon, Hyosung
Miao, Jianjun
MACROECONOMIC DYNAMICS, 2019, 23 (05) : 1895 - 1920

← 1 2 3 4 5 →