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

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