A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization
文献类型：期刊论文
| 作者 | Keyvan Majd; Mohammad Razeghi-Jahromi; Abdollah Homaifar |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2020 |
| 卷号 | 7期号:1页码:39-47 |
| 关键词 | Global asymptotic stability input-output linearization optimal control trajectory tracking |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2019.1911816 |
| 英文摘要 | In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking error. The problem is formulated in the form of tracking error optimization in which the quadratic errors of the position, velocity, and acceleration are minimized subject to the rear-wheel car-like robot kinematic model. The input-output linearization technique is employed to transform the nonlinear problem into a linear formulation. By using the variational approach, the analytical solution is obtained, which is guaranteed to be globally exponentially stable and is also appropriate for real-time applications. The simulation results demonstrate the validity of the proposed mechanism in generating an optimal trajectory and control inputs by evaluating the proposed method in an eight-shape tracking scenario. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/42920]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Keyvan Majd,Mohammad Razeghi-Jahromi,Abdollah Homaifar. A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(1):39-47. |
| APA | Keyvan Majd,Mohammad Razeghi-Jahromi,&Abdollah Homaifar.(2020).A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization.IEEE/CAA Journal of Automatica Sinica,7(1),39-47. |
| MLA | Keyvan Majd,et al."A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization".IEEE/CAA Journal of Automatica Sinica 7.1(2020):39-47. |
入库方式： OAI收割
来源：自动化研究所
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