Title:	Interpolating Control Based Trajectory Tracking
Authors:	Bouček, Zdeněk Flídr, Miroslav
Citation:	BOUČEK, Z. FLÍDR, M.Interpolating Control Based Trajectory Tracking. In: Proceedings of the 16th International Conference on Control, Automation, Robotics and Vision. New York: IEEE, 2020. s. 701-706. ISBN 978-1-72817-709-0.
Issue Date:	2020
Publisher:	IEEE
Document type:	konferenční příspěvek conferenceObject
URI:	2-s2.0-85100117731 http://hdl.handle.net/11025/42925
ISBN:	978-1-72817-709-0
Keywords in different language:	Trajectory Tracking, Interpolating Control, Model Predictive Control, Constrained Control
Abstract in different language:	The paper is dealing with a modification of Interpolating Control (IC) for the employment in trajectory tracking problem with inherent constraints. First, the Optimal Control Problem (OCP) with reference trajectory tracking is described. The OCP is hard to solve analytically, thus, two feasible approaches will be presented. The standard method for the trajectory tracking called Model Predictive Control (MPC), and afterward, a more computationally efficient alternative, the IC will be described. Further, the modification of IC for the tracking of the reference trajectory is presented. Finally, the IC and MPC are compared on a simple example using OCP cost function and computational time.
Rights:	Plný text je přístupný v rámci univerzity přihlášeným uživatelům. © IEEE
Appears in Collections:	Konferenční příspěvky / Conference Papers (KKY) Konferenční příspěvky / Conference papers (NTIS) OBD

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