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Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following

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Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following

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Armesto Ángel, L.; Girbés, V.; Sala, A.; Miroslav Zima; Václav mídl (2015). Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following. IEEE Transactions on Control Systems Technology. 23(4):1494-1504. doi:10.1109/TCST.2014.2377631

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/88030

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Title: Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following
Author: Armesto Ángel, Leopoldo Girbés, Vicent Sala, Antonio Miroslav Zima Václav mídl
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada
Issued date:
Abstract:
[EN] This paper presents noniterative linearizationbased controllers for nonlinear unconstrained systems, coined as extended Rauch Tung Striebel (ERTS) and unscented Rauch Tung Striebel (URTS) controllers, derived from ...[+]
Subjects: Duality control estimation , Optimal control , Robot trajectory-following
Copyrigths: Reserva de todos los derechos
Source:
IEEE Transactions on Control Systems Technology. (issn: 1063-6536 ) (eissn: 1558-0865 )
DOI: 10.1109/TCST.2014.2377631
Publisher:
Institute of Electrical and Electronics Engineers (IEEE)
Publisher version: http://doi.org/10.1109/TCST.2014.2377631
Description: (c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
Thanks:
This work was supported in part by the PrometeoII/2013/004 through the Generalitat Valenciana, in part by the Spanish Government under Project DPI2011-27845-C02-01, in part by the VALi+d Program through the Generalitat ...[+]
Type: Artículo

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