0445192 20240103210229.420150723235959.9 000356523600019 84933530791 10.1109/TCST.2014.2377631 11 s. P cav_un_epca*02532281063-6536234 (2015)1494-1504Institute of Electrical and Electronics Engineers trajectory planning duality of estimation and control cav_un_auth*0318241 Arnesto L. ES cav_un_auth*0297923 Girbés V. ES cav_un_auth*0297924 Sala A. ES cav_un_auth*0297921 Zima M. CZ cav_un_auth*0101207 Šmídl Václav Adaptivní systémy Department of Adaptive Systems AS AS UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2015/AS/smidl-0445192.pdf GAP102/11/0437 GA ČR CZ cav_un_auth*0273082 CZ.1.05/2.1.00/03.0094 GA MŠk CZ cav_un_auth*0306553 This paper presents noniterative linearization-based controllers for nonlinear unconstrained systems, coined as extended Rauch–Tung–Striebel (ERTS) and unscented Rauch–Tung–Striebel (URTS) controllers, derived from the duality between optimal control and estimation. The proposed controllers use a Rauch–Tung–Striebel forward–backward smoother as an state estimator to compute the original optimal control problem. The new controllers are applied to trajectory-following problems of differential-drive mobile robots and compared with iterative linear quadratic regulator controller, nonlinear model predictive control, and approximate inference approaches. Simulations show that ERTS and URTS controllers produce almost optimal solutions with a significantly lower computing time, avoiding initialization issues in the other algorithms (in fact, they can be used to initialize them). This paper validates ERTS controller with an experiment of a Pioneer 3-DX mobile robot. 2016 BC 5 4 A hod 4ah 20231122141028.9 RVO:67985556 http://hdl.handle.net/11104/0247979 1 Department of Adaptive Systems UTIA-B 20205 AUTOMATION & CONTROL SYSTEMS S ENGINEERING.ELECTRICAL&ELECTRONIC|AUTOMATION&CONTROLSYSTEMS 3.411 0.516 6.6 0.01772 1.286 6922 1.966 Q1 2.593 223 Q1 83.313 89.6 Q1 Q1* 90.678 2015 Soubory v repozitáři: smidl-0445192.pdf 84933530791 SCOPUS 000356523600019 WOS cav_un_epca*0253228 IEEE Transactions on Control Systems Technology 1063-6536 1558-0865 Roč. 23 č. 4 2015 1494 1504 Institute of Electrical and Electronics Engineers