Duality-based nonlinear quadratic control : application to mobile robot trajectory-following
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F15%3A43925589" target="_blank" >RIV/49777513:23220/15:43925589 - isvavai.cz</a>
Alternative codes found
RIV/67985556:_____/15:00445192
Result on the web
<a href="http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7018010" target="_blank" >http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7018010</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/TCST.2014.2377631" target="_blank" >10.1109/TCST.2014.2377631</a>
Alternative languages
Result language
angličtina
Original language name
Duality-based nonlinear quadratic control : application to mobile robot trajectory-following
Original language description
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 andestimation. 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 mobilerobots 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.
Czech name
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Czech description
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Classification
Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Transactions on Control Systems Technology
ISSN
1063-6536
e-ISSN
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Volume of the periodical
23
Issue of the periodical within the volume
4
Country of publishing house
US - UNITED STATES
Number of pages
11
Pages from-to
1494 - 1504
UT code for WoS article
000356523600019
EID of the result in the Scopus database
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