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MS 1 MINISYMPOSIUM: ADVANCED IMAGING FOR INDUSTRIAL APPLICATION Read chapter Read first chapter

2016 | Supplement | Chapter

Tracking of Reference Robot Trajectory Using SDRE Control Method

Authors : Elvira Rafikova, Luiz Henrique de Vitro Gomez, Marat Rafikov

Published in: Progress in Industrial Mathematics at ECMI 2014

Publisher: Springer International Publishing

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Abstract

The application of the SDRE-State Dependent Ricatti Equation method for the tracking control of a nonholonomic mobile robot is presented in this work. The proposed control law minimize the quadratic cost functional consisting of tracking errors and control efforts. The numerical simulations demonstrate the efficacy of the control method applied to track the linear and circular trajectory reference robot.

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previous chapter On Detecting the Shape of an Unknown Object in an Electric Field
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Literature
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Metadata
Title
Tracking of Reference Robot Trajectory Using SDRE Control Method
Authors
Elvira Rafikova
Luiz Henrique de Vitro Gomez
Marat Rafikov
Copyright Year
2016
Book
Progress in Industrial Mathematics at ECMI 2014

Print ISBN: 978-3-319-23412-0

Electronic ISBN: 978-3-319-23413-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-23413-7_157

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