Time-optimal path-following operation in the presence of uncertainty

Publikationstyp
Conference Paper
Date Issued
2016
Sprache
English
Author(s)
Milosavljevic, Predrag
Faulwasser, Timm  
Marchetti, Alejandro  
Bonvin, Dominique  
TORE-URI
https://hdl.handle.net/11420/46201
Start Page
2228
End Page
2233
Article Number
7810622
Citation
2016 European Control Conference (ECC) : June 29-July 1, 2016, Aalborg, Denmark. - Piscataway, NJ, 2016. - Seite 2228-2233
Contribution to Conference
15th European Control Conference, ECC 2016  
Publisher DOI
10.1109/ECC.2016.7810622
Scopus ID
2-s2.0-85010794176
Publisher
IEEE
ISBN
978-1-5090-2591-6
978-1-5090-2592-3
978-1-5090-2590-9
Path-following tasks, which refer to dynamic motion planning along pre-specified geometric references, are frequently encountered in applications such as milling, robot-supported measurements, and trajectory planning for autonomous vehicles. Different convex and non-convex optimal control formulations have been proposed to tackle these problems for the case of perfect models. This paper analyzes path-following problems in the presence of plant-model mismatch. The proposed adaptation strategies rely on concepts that are well known in the field of real-time optimization. We present conditions guaranteeing that, upon convergence, a minimumtime solution is attained despite the presence of plant-model mismatch. We draw upon a simulated robotic example to illustrate our results.
Subjects
constraint adaptation
path following
real-time optimization
uncertain systems
DDC Class
004: Computer Sciences
621: Applied Physics