Interpolating Control Based Trajectory Tracking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F20%3A43959617" target="_blank" >RIV/49777513:23520/20:43959617 - isvavai.cz</a>
Result on the web
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9305511" target="_blank" >https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9305511</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICARCV50220.2020.9305511" target="_blank" >10.1109/ICARCV50220.2020.9305511</a>
Alternative languages
Result language
angličtina
Original language name
Interpolating Control Based Trajectory Tracking
Original language description
The paper is dealing with a modification of Interpolating Control (IC) for the employment in trajectory tracking problem with inherent constraints. First, the Optimal Control Problem (OCP) with reference trajectory tracking is described. The OCP is hard to solve analytically, thus, two feasible approaches will be presented. The standard method for the trajectory tracking called Model Predictive Control (MPC), and afterward, a more computationally efficient alternative, the IC will be described. Further, the modification of IC for the tracking of the reference trajectory is presented. Finally, the IC and MPC are compared on a simple example using OCP cost function and computational time.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/8A19004" target="_blank" >8A19004: Framework of key enabling technologies for safe and autonomous drones' applications</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision
ISBN
978-1-72817-709-0
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
701-706
Publisher name
IEEE
Place of publication
New York
Event location
Shenzhen, Čína
Event date
Dec 13, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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