A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization

查看全文 作　　者：Keyvan [1]Majd;Mohammad Razeghi-[2]Jahromi;Abdollah [3]Homaifar

机构地区：[1]School of Computing,Informatics,and Decision Systems Engineering,Arizona State University,Tempe,AZ 85281 USA;[2]ABB Corporate Research Center,Raleigh,NC 27606 USA;[3]Department of Electrical and Computer Engineering,North Carolina A&T State University,Greensboro,NC 27403 USA

出　　处：《IEEE/CAA Journal of Automatica Sinica》索引2020年第7卷第1期,共9页

基　　金：supported by the Air Force Research Laboratory and Office of the Secretary of Defense(OSD)(FA8750-15-2-0116);the US Department of Transportation(USDOT);Research and Innovative Technology Administration(RITA)under University Transportation Center(UTC)Program(DTRT13-G-UTC47) 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. 关键词：Index Terms—Global asymptotic stability input-output linearization,optimal control trajectory tracking.

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A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization

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