Discrete Inverse Problem Approach to Path Tracking in State Space Form

dc.contributor.authorHarker, Matthew
dc.contributor.authorRath, Gerhard
dc.contributor.editorPinker, Jiří
dc.date.accessioned2019-10-17T09:07:48Z
dc.date.available2019-10-17T09:07:48Z
dc.date.issued2018
dc.description.abstract-translatedThis paper presents a new method for determining the ideal control signal to a state-space system such that one or more of its states track specified paths. The method is based on the concept of an inverse problem, whereby we determine the ideal input which is required to track the specified output. One of the key observations is that regularization must be applied to the solution of the inverse problem to obtain a unique solution, e.g., second order regularization is used to impose smoothness on the solution for the control. The method is verified on a synthetic example of a second order system whose position is specified and tracked according to the proposed algorithm. The results can be combined with a simple controller for path tracking as a form of model predictive control for real-world systems.en
dc.format4 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citation2018 International Conference on Applied Electronics: Pilsen, 11th – 12th September 2018, Czech Republic, 41-44.en
dc.identifier.isbn978–80–261–0721–7
dc.identifier.issn1803–7232
dc.identifier.urihttp://hdl.handle.net/11025/35467
dc.language.isoenen
dc.publisherZápadočeská univerzita v Plznics
dc.rights© Západočeská univerzita v Plznics
dc.rights.accessopenAccessen
dc.subjectsledování cestycs
dc.subjectinverzní problémcs
dc.subjectregulacecs
dc.subject.translatedpath trackingen
dc.subject.translatedinverse problemen
dc.subject.translatedRegularizationen
dc.titleDiscrete Inverse Problem Approach to Path Tracking in State Space Formen
dc.typekonferenční příspěvekcs
dc.typeconferenceObjecten
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

Files

Original bundle
Showing 1 - 1 out of 1 results
No Thumbnail Available
Name:
Harker.pdf
Size:
228.34 KB
Format:
Adobe Portable Document Format
Description:
Plný text
License bundle
Showing 1 - 1 out of 1 results
No Thumbnail Available
Name:
license.txt
Size:
1.71 KB
Format:
Item-specific license agreed upon to submission
Description:
OPEN License Selector