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
收藏
页码：2101 / 2106
页数：6
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