Congress detail
Authors: 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.
Meeting type: Conferencia.
Type of job: Artículo Completo.
Production: Time-Optimal Path-Following Operation in the Presence of Uncertainty.
Scientific meeting: European Control Conference 16.
Meeting place: Aalborg.
Organizing Institution: European Control Association, IFAC.
It's published?: Yes
Publication place: Aalborg
Meeting month: 6
Year: 2016.