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Citation
: Interpolating Control Based Trajectory Tracking* . 16th International Conference on Control, Automation, Robotics and Vision (ICARCV), Shenzhen, China, 2021.
Abstract
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 of publication
| Title: | Interpolating Control Based Trajectory Tracking* |
|---|---|
| Author: | Zdeněk Bouček ; Miroslav Flídr |
| Language: | English |
| Date of publication: | 8 Jan 2021 |
| Year: | 2021 |
| Type of publication: | Papers in proceedings of reviewed conferences |
| Title of journal or book: | 16th International Conference on Control, Automation, Robotics and Vision (ICARCV) |
| DOI: | 10.1109/ICARCV50220.2020.9305511 |
| ISBN: | 978-1-7281-7710-6 |
| Address: | Shenzhen, China |
| Date: | 13 Dec 2020 - 15 Dec 2020 |
Keywords
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},
}