Interpolating Control Based Trajectory Tracking

Show simple item record
dc.contributor.authorBouček, Zdeněk
dc.contributor.authorFlídr, Miroslav
dc.date.accessioned2021-03-15T11:00:27Z
dc.date.available2021-03-15T11:00:27Z
dc.date.issued2020
dc.description.abstract-translatedThe 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.en
dc.format6 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationBOUČEK, Z. FLÍDR, M.Interpolating Control Based Trajectory Tracking. In: Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision. New York: IEEE, 2020. s. 701-706. ISBN 978-1-72817-709-0.cs
dc.identifier.doi10.1109/ICARCV50220.2020.9305511
dc.identifier.isbn978-1-72817-709-0
dc.identifier.obd43930616
dc.identifier.uri2-s2.0-85100117731
dc.identifier.urihttp://hdl.handle.net/11025/42925
dc.language.isoenen
dc.project.IDSGS-2019-020/Rozvoj a využití kybernetických systémů identifikace, diagnostiky a řízení 4cs
dc.project.ID8A19004/COMP4DRONES -Leveraging CPS Composability & Modularity for Customized and Autonomous Civilian Dronescs
dc.publisherIEEEen
dc.relation.ispartofseriesProceedings of the 16th International Conference on Control, Automation, Robotics and Visionen
dc.rightsPlný text je přístupný v rámci univerzity přihlášeným uživatelům.cs
dc.rights© IEEEen
dc.rights.accessrestrictedAccessen
dc.subject.translatedTrajectory Tracking, Interpolating Control, Model Predictive Control, Constrained Controlen
dc.titleInterpolating Control Based Trajectory Trackingen
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

Files

Collections

OBD
 Conference Papers (KKY)
 Conference papers (NTIS)
 OPEN License Selector