Detalle del congreso

Autores: Predrag Milosavljevic; Timm Faulwasser; Alejandro Marchetti; Dominique Bonvin.

Resumen: 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 minimum- time solution is attained despite the presence of plant-model mismatch. We draw upon a simulated robotic example to illustrate our results.

Tipo de reunión: Conferencia.

Tipo de trabajo: Artículo Completo.

Producción: Time-Optimal Path-Following Operation in the Presence of Uncertainty.

Reunión científica: European Control Conference 16.

Lugar: Aalborg.

Institución organizadora: European Control Association, IFAC.

Publicado: Sí

Lugar publicación: Aalborg

Mes de reunión: 6

Año: 2016.