| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0421443 |
| utime |
20240103203503.2 |
| mtime |
20131218235959.9 |
| SCOPUS |
84902349687 |
| WOS |
000352223503055 |
| DOI |
10.1109/CDC.2013.6760324 |
| title
(primary) (eng) |
Extended Rauch-Tung-Striebel Controller |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0421442 |
| ISBN |
978-1-4673-5717-3 |
| title
|
Proceedings of the 52nd IEEE conference on decision and control |
| page_num |
2900-2905 |
| publisher |
| place |
Florence, Italy |
| name |
IEEE |
| year |
2013 |
|
|
| keyword |
bayesian smoothing |
| keyword |
linear quadratic control |
| keyword |
nonholonomic robots |
| author
(primary) |
| ARLID |
cav_un_auth*0297921 |
| name1 |
Zima |
| name2 |
M. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0297922 |
| name1 |
Armesto |
| name2 |
L. |
| country |
ES |
|
| author
|
| ARLID |
cav_un_auth*0297923 |
| name1 |
Girbés |
| name2 |
V. |
| country |
ES |
|
| author
|
| ARLID |
cav_un_auth*0297924 |
| name1 |
Sala |
| name2 |
A. |
| country |
ES |
|
| author
|
| ARLID |
cav_un_auth*0101207 |
| full_dept (cz) |
Adaptivní systémy |
| full_dept |
Department of Adaptive Systems |
| department (cz) |
AS |
| department |
AS |
| full_dept |
Department of Adaptive Systems |
| name1 |
Šmídl |
| name2 |
Václav |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0273082 |
| project_id |
GAP102/11/0437 |
| agency |
GA ČR |
| country |
CZ |
|
| project |
| ARLID |
cav_un_auth*0290411 |
| project_id |
ED2.1.00/03.0094 |
| agency |
GA MŠk |
| country |
CZ |
|
| abstract
(eng) |
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. |
| action |
| ARLID |
cav_un_auth*0297810 |
| name |
52nd IEEE conference on decision and control |
| dates |
10.12.2013-13.12.2013 |
| place |
Florence |
| country |
IT |
|
| RIV |
BC |
| reportyear |
2014 |
| num_of_auth |
5 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0227924 |
| cooperation |
| ARLID |
cav_un_auth*0295079 |
| name |
Západočeská univerzita v Plzni |
| institution |
ZČU |
| country |
CZ |
| mrcbC63-f |
Plzeň |
|
| arlyear |
2013 |
| mrcbU14 |
84902349687 SCOPUS |
| mrcbU34 |
000352223503055 WOS |
| mrcbU63 |
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 |
|