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Citace

Zdeněk Bouček and Miroslav Flídr : Interpolating Control Based Trajectory Tracking* . 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), Shenzhen, China, 2021.

Abstrakt

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.

Detail publikace

Název: Interpolating Control Based Trajectory Tracking*
Autor: Zdeněk Bouček ; Miroslav Flídr
Jazyk publikace: anglicky
Datum vydání: 8.1.2021
Rok vydání: 2021
Typ publikace: Stať ve sborníku
Název časopisu / knihy: 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)
DOI: 10.1109/ICARCV50220.2020.9305511
ISBN: 978-1-7281-7710-6
Místo vydání: Shenzhen, China
Datum: 13.12.2020 - 15.12.2020
/ 2021-03-17 08:20:33 /

Klíčová slova

Trajectory Tracking, Interpolating Control, Model Predictive Control, Constrained Control

BibTeX

@INPROCEEDINGS{ZdenekBoucek_2021_InterpolatingControl,
 author = {Zden\v{e}k Bou\v{c}ek and Miroslav Fl\'{i}dr},
 title = {Interpolating Control Based Trajectory Tracking*},
 year = {2021},
 journal = {16th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
 address = {Shenzhen, China},
 ISBN = {978-1-7281-7710-6},
 doi = {10.1109/ICARCV50220.2020.9305511},
 url = {http://www.kky.zcu.cz/en/publications/ZdenekBoucek_2021_InterpolatingControl},
}