Time-Optimal Path-Following Operation in the Presence of Uncertainty

被引：0

作者：

Milosavljevic, Predrag ^{[1
]}

Faulwasser, Timm ^{[1
,2
]}

Marchetti, Alejandro ^{[1
]}

Bonvin, Dominique ^{[1
]}

机构：

[1] Ecole Polytech Fed Lausanne, Lab Automat, CH-1015 Lausanne, Switzerland

[2] Karlsruhe Inst Technol, Inst Appl Comp Sci, D-76344 Eggenstein Leopoldshafen, Germany

来源：

2016 EUROPEAN CONTROL CONFERENCE (ECC) | 2016年

关键词：

path following; uncertain systems; constraint adaptation; real-time optimization; OPTIMIZATION; CONSTRAINTS; ADAPTATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Path-following tasks, which refer to dynamic motion planning along pre-specified geometric references, are frequently encountered in applications such as milling, robot supported measurements, and trajectory planning for autonomous vehicles. Different convex and non-convex optimal control formulations have been proposed to tackle these problems for the case of perfect models. This paper analyzes path following problems in the presence of plant-model mismatch. The proposed adaptation strategies rely on concepts that are well known in the field of real-time optimization. We present conditions guaranteeing that, upon convergence, a minimum time solution is attained despite the presence of plant-model mismatch. We draw upon a simulated robotic example to illustrate our results.

引用

页码：2228 / 2233

页数：6

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