Extended Rauch-Tung-Striebel Controller

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F13%3A00421443" target="_blank" >RIV/67985556:_____/13:00421443 - isvavai.cz</a>
Alternative codes found
RIV/49777513:23220/13:43928512
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Extended Rauch-Tung-Striebel Controller
Original language description
This paper presents a novel controller for nonlinear unconstrained systems, coined as Extended Rauch-Tung-Striebel (ERTS) controller. The controller is derived from a general framework based on the duality between optimal control and estimation established by Todorov. The proposed controller uses Rauch-Tung-Striebel smoother that predicts (filters) future states by linearizing the nonlinear system around predicted states and then applies a backward smoothing. The new controller is applied to solve pathfollowing problems of non-holonomic vehicles and compared with the standard LQR controller linearizing the model around the desired trajectory and the iterative LQR (iLQR) controller. The main advantages of ERTS controller with respect to the alternativetechniques are good control performance and computational efficiency.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 52nd IEEE conference on decision and control
ISBN
978-1-4673-5717-3
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
2900-2905
Publisher name
IEEE
Place of publication
Florence, Italy
Event location
Florence
Event date
Dec 10, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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