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

doi:10.1109/JAS.2019.1911816

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	A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization
	Keyvan Majd; Mohammad Razeghi-Jahromi; Abdollah Homaifar
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:1 页码:39-47
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	Global asymptotic stability input-output linearization optimal control trajectory tracking
DOI	10.1109/JAS.2019.1911816
引用统计	被引频次：27[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42920
专题	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.

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