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. https://doi.org/10.1109/TCST.2014.2377631
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/88030
Título:
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Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following
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Autor:
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Armesto Ángel, Leopoldo
Girbés, Vicent
Sala, Antonio
Miroslav Zima
Václav mídl
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Entidad UPV:
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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
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Fecha difusión:
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Resumen:
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[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 ...[+]
[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 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.
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Palabras clave:
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Duality control estimation
,
Optimal control
,
Robot trajectory-following
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Derechos de uso:
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Reserva de todos los derechos
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Fuente:
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IEEE Transactions on Control Systems Technology. (issn:
1063-6536
) (eissn:
1558-0865
)
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DOI:
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10.1109/TCST.2014.2377631
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Editorial:
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Institute of Electrical and Electronics Engineers (IEEE)
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Versión del editor:
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http://doi.org/10.1109/TCST.2014.2377631
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Código del Proyecto:
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info:eu-repo/grantAgreement/GVA//PROMETEOII%2F2013%2F004/ES/DISEÑO DE SISTEMAS DE CONTROL MULTIVARIABLE (DISICOM)/
info:eu-repo/grantAgreement/MSMT//CZ.1.05%2F2.1.00%2F03.0094/
info:eu-repo/grantAgreement/GACR//102%2F11%2F0437/
info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/
info:eu-repo/grantAgreement/MSMT//ED2.1.00%2F03.0094/CZ/Regional Innovation Centre for Electrical Engineering (RICE)/
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Descripción:
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(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.
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Agradecimientos:
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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 ...[+]
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 Valenciana, in part by the European Regional Development Fund through the Ministry of Education, Youth and Sports, Czech Republic, under Project CZ.1.05/2.1.00/03.0094, in part by the Regional Innovation Centre for Electrical Engineering, and in part by the Czech Science Foundation under Project GACR P 102/11/0437. Recommended by Associate Editor A. G. Aghdam.
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Tipo:
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Artículo
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