Name
Title | ||
|---|---|---|
Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following |
Abstract | ||
|---|---|---|
This paper presents noniterative linearization-based controllers for nonlinear unconstrained systems, coined as extended Rauch-Tung-Striebel (ERTS) and unscented Rauch-Tung-Striebel (URTS) controllers, derived from the duality between optimal control and estimation. The proposed controllers use a Rauch-Tung-Striebel forward-backward smoother as an state estimator to compute the original optimal control problem. The new controllers are applied to trajectory-following problems of differential-drive mobile robots and compared with iterative linear quadratic regulator controller, nonlinear model predictive control, and approximate inference approaches. Simulations show that ERTS and URTS controllers produce almost optimal solutions with a significantly lower computing time, avoiding initialization issues in the other algorithms (in fact, they can be used to initialize them). This paper validates ERTS controller with an experiment of a Pioneer 3-DX mobile robot. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/TCST.2014.2377631 | IEEE Transactions on Control Systems Technology |
Keywords | Field | DocType |
Optimal control,Trajectory,Estimation,Computational modeling,Smoothing methods,Mobile robots,Iterative methods | Mathematical optimization,Control theory,Optimal control,Control theory,Iterative method,Model predictive control,Control engineering,Duality (optimization),Linear-quadratic regulator,Mobile robot,Mathematics,Linearization | Journal |
Volume | Issue | ISSN |
PP | 99 | 1063-6536 |
Citations | PageRank | References |
2 | 0.40 | 15 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Leopoldo Armesto | 1 | 157 | 19.88 |
| Vicent Girbés | 2 | 24 | 4.92 |
| A. Sala | 3 | 562 | 33.44 |
| Miroslav Zima | 4 | 2 | 0.40 |
| Václav Smídl | 5 | 45 | 10.25 |