Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Robust tube-based model predictive control for time-constrained robot navigation
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.ORCID-id: 0000-0002-8696-1536
KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.ORCID-id: 0000-0001-7309-8086
2019 (Engelska)Ingår i: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers (IEEE), 2019, s. 1152-1157, artikel-id 8815253Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of Rn. Initially, we provide a novel class of robust feedback controllers that drive the robot between Regions of Interest (RoI) of the workspace. The control laws consists of two parts: an on-line controller which is the outcome of a Finite Horizon Optimal Control Problem (FHOCP); and a backstepping feedback law which is tuned off-line and guarantees that the real trajectory always remains in a bounded hyper-tube centered along the nominal trajectory of the robot. The proposed controller falls within the so-called tube-based Nonlinear Model Predictive control (NMPC) methodology. Then, given a desired high-level specification for the robot in Metric Interval Temporal Logic (MITL), by utilizing the aforementioned controllers, a framework that provably guarantees the satisfaction of the formula is provided. The proposed framework can handle the rich expressiveness of MITL in both safety and reachability specifications. Finally, the proposed framework is validated by numerical simulations.

Ort, förlag, år, upplaga, sidor
Institute of Electrical and Electronics Engineers (IEEE), 2019. s. 1152-1157, artikel-id 8815253
Serie
Proceedings of the American Control Conference, ISSN 0743-1619
Nationell ämneskategori
Reglerteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-262598Scopus ID: 2-s2.0-85072274684ISBN: 9781538679265 (tryckt)OAI: oai:DiVA.org:kth-262598DiVA, id: diva2:1365733
Konferens
2019 American Control Conference, ACC 2019; Philadelphia; United States; 10 July 2019 through 12 July 2019
Anmärkning

QC 20191025

Tillgänglig från: 2019-10-25 Skapad: 2019-10-25 Senast uppdaterad: 2019-10-25Bibliografiskt granskad

Open Access i DiVA

Fulltext saknas i DiVA

Scopus

Personposter BETA

Nikou, AlexandrosDimarogonas, Dimos V.

Sök vidare i DiVA

Av författaren/redaktören
Nikou, AlexandrosDimarogonas, Dimos V.
Av organisationen
Reglerteknik
Reglerteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar

isbn
urn-nbn

Altmetricpoäng

isbn
urn-nbn
Totalt: 11 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf