0421443 20240103203503.220131218235959.9 84902349687 000352223503055 10.1109/CDC.2013.6760324 6 s. C cav_un_epca*0421442978-1-4673-5717-32900-2905Florence, ItalyIEEE2013 bayesian smoothing linear quadratic control nonholonomic robots cav_un_auth*0297921 Zima M. CZ cav_un_auth*0297922 Armesto L. ES cav_un_auth*0297923 Girbés V. ES cav_un_auth*0297924 Sala A. ES cav_un_auth*0101207 Adaptivní systémy Department of Adaptive Systems AS AS Department of Adaptive Systems Šmídl Václav UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2013/AS/smidl-0421443.pdf cav_un_auth*0273082 GAP102/11/0437 GA ČR CZ cav_un_auth*0290411 ED2.1.00/03.0094 GA MŠk CZ This paper presents a novel controller for nonlinear unconstrained systems, coined as Extended Rauch-Tung-Striebel (ERTS) controller. The controller is derived from a general framework based on the duality between optimal control and estimation established by Todorov. The proposed controller uses Rauch-Tung-Striebel smoother that predicts (filters) future states by linearizing the nonlinear system around predicted states and then applies a backward smoothing. The new controller is applied to solve path following problems of non-holonomic vehicles and compared with the standard LQR controller linearizing the model around the desired trajectory and the iterative LQR (iLQR) controller. The main advantages of ERTS controller with respect to the alternative techniques are good control performance and computational efficiency. cav_un_auth*0297810 52nd IEEE conference on decision and control 10.12.2013-13.12.2013 Florence IT BC 2014 5 PR RVO:67985556 http://hdl.handle.net/11104/0227924 cav_un_auth*0295079 Západočeská univerzita v Plzni ZČU CZ Plzeň 2013 84902349687 SCOPUS 000352223503055 WOS cav_un_epca*0421442 Proceedings of the 52nd IEEE conference on decision and control 978-1-4673-5717-3 2900 2905 Florence, Italy IEEE 2013