| bibtype |
J -
Journal Article
|
| ARLID |
0445192 |
| utime |
20240103210229.4 |
| mtime |
20150723235959.9 |
| WOS |
000356523600019 |
| SCOPUS |
84933530791 |
| DOI |
10.1109/TCST.2014.2377631 |
| title
(primary) (eng) |
Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following |
| specification |
| page_count |
11 s. |
| media_type |
P |
|
| serial |
| ARLID |
cav_un_epca*0253228 |
| ISSN |
1063-6536 |
| title
|
IEEE Transactions on Control Systems Technology |
| volume_id |
23 |
| volume |
4 (2015) |
| page_num |
1494-1504 |
| publisher |
| name |
Institute of Electrical and Electronics Engineers |
|
|
| keyword |
trajectory planning |
| keyword |
duality of estimation and control |
| author
(primary) |
| ARLID |
cav_un_auth*0318241 |
| name1 |
Arnesto |
| 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*0297921 |
| name1 |
Zima |
| name2 |
M. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0101207 |
| name1 |
Šmídl |
| name2 |
Václav |
| full_dept (cz) |
Adaptivní systémy |
| full_dept |
Department of Adaptive Systems |
| department (cz) |
AS |
| department |
AS |
| institution |
UTIA-B |
| full_dept |
Department of Adaptive Systems |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
|
| cas_special |
| project |
| project_id |
GAP102/11/0437 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0273082 |
|
| project |
| project_id |
CZ.1.05/2.1.00/03.0094 |
| agency |
GA MŠk |
| country |
CZ |
| ARLID |
cav_un_auth*0306553 |
|
| abstract
(eng) |
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. |
| reportyear |
2016 |
| RIV |
BC |
| num_of_auth |
5 |
| mrcbC52 |
4 A hod 4ah 20231122141028.9 |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0247979 |
| mrcbC64 |
1 Department of Adaptive Systems UTIA-B 20205 AUTOMATION & CONTROL SYSTEMS |
| confidential |
S |
| mrcbT16-e |
AUTOMATIONCONTROLSYSTEMS|ENGINEERINGELECTRICALELECTRONIC |
| mrcbT16-j |
1.286 |
| mrcbT16-s |
1.966 |
| mrcbT16-4 |
Q1 |
| mrcbT16-B |
83.313 |
| mrcbT16-C |
89.600 |
| mrcbT16-D |
Q1 |
| mrcbT16-E |
Q1* |
| arlyear |
2015 |
| mrcbTft |
\nSoubory v repozitáři: smidl-0445192.pdf |
| mrcbU14 |
84933530791 SCOPUS |
| mrcbU34 |
000356523600019 WOS |
| mrcbU63 |
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 |
|