Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc-Numerical Solutions

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F21%3APU142031" target="_blank" >RIV/00216305:26210/21:PU142031 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/60162694:G42__/21:00535263

Výsledek na webu

<a href="https://www.mdpi.com/2218-6581/10/3/88" target="_blank" >https://www.mdpi.com/2218-6581/10/3/88</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/robotics10030088" target="_blank" >10.3390/robotics10030088</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc-Numerical Solutions

Popis výsledku v původním jazyce

We study two nilpotent affine control systems derived from the dynamic and control of a vertical rolling disc that is a simplification of a differential drive wheeled mobile robot. For both systems, their controllable Lie algebras are calculated and optimal control problems are formulated, and their Hamiltonian systems of ODEs are derived using the Pontryagin maximum principle. These optimal control problems completely determine the energetically optimal trajectories between two states. Then, a novel numerical algorithm based on optimisation for finding the Maxwell points is presented and tested on these control systems. The results show that the use of such numerical methods can be beneficial in cases where common analytical approaches fail or are impractical.

Název v anglickém jazyce

Maxwell Points of Dynamical Control Systems Based on Vertical Rolling Disc-Numerical Solutions

Popis výsledku anglicky

We study two nilpotent affine control systems derived from the dynamic and control of a vertical rolling disc that is a simplification of a differential drive wheeled mobile robot. For both systems, their controllable Lie algebras are calculated and optimal control problems are formulated, and their Hamiltonian systems of ODEs are derived using the Pontryagin maximum principle. These optimal control problems completely determine the energetically optimal trajectories between two states. Then, a novel numerical algorithm based on optimisation for finding the Maxwell points is presented and tested on these control systems. The results show that the use of such numerical methods can be beneficial in cases where common analytical approaches fail or are impractical.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Robotics

ISSN

2218-6581

e-ISSN

—

Svazek periodika

10

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

1-19

Kód UT WoS článku

000701752400001

EID výsledku v databázi Scopus

2-s2.0-85111058872