Interpolating Control Based Trajectory Tracking
| dc.contributor.author | Bouček, Zdeněk | |
| dc.contributor.author | Flídr, Miroslav | |
| dc.date.accessioned | 2021-03-15T11:00:27Z | |
| dc.date.available | 2021-03-15T11:00:27Z | |
| dc.date.issued | 2020 | |
| dc.description.abstract-translated | 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. | en |
| dc.format | 6 s. | cs |
| dc.format.mimetype | application/pdf | |
| dc.identifier.citation | BOUČEK, 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.doi | 10.1109/ICARCV50220.2020.9305511 | |
| dc.identifier.isbn | 978-1-72817-709-0 | |
| dc.identifier.obd | 43930616 | |
| dc.identifier.uri | 2-s2.0-85100117731 | |
| dc.identifier.uri | http://hdl.handle.net/11025/42925 | |
| dc.language.iso | en | en |
| dc.project.ID | SGS-2019-020/Rozvoj a využití kybernetických systémů identifikace, diagnostiky a řízení 4 | cs |
| dc.project.ID | 8A19004/COMP4DRONES -Leveraging CPS Composability & Modularity for Customized and Autonomous Civilian Drones | cs |
| dc.publisher | IEEE | en |
| dc.relation.ispartofseries | Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision | en |
| dc.rights | Plný text je přístupný v rámci univerzity přihlášeným uživatelům. | cs |
| dc.rights | © IEEE | en |
| dc.rights.access | restrictedAccess | en |
| dc.subject.translated | Trajectory Tracking, Interpolating Control, Model Predictive Control, Constrained Control | en |
| dc.title | Interpolating Control Based Trajectory Tracking | en |
| dc.type | konferenční příspěvek | cs |
| dc.type | conferenceObject | en |
| dc.type.status | Peer-reviewed | en |
| dc.type.version | publishedVersion | en |