Adaptive optimal dynamic control for nonholonomic systems

Research output: Contribution to journalArticle

Abstract

In this paper two different control methods are combined for controlling a typical nonholonomic device (a bicycle) the dynamic model and parameters ol which are only approximately known. Most of such devices suffer from the problem that the time-derivatives of the coordinates of their location and orientation cannot independently be set so an arbitrarily prescribed trajectory cannot precisely be traced by them. For tackling this difficulty Optimal Control is proposed that car find acceptable compromise between the tracking error of the various coordinates Further problem is that the solution proposed by the optimal controller cannot exactly be implemented in the lack of precise information on the dynamic model ol the system. Based on the decoupled nature of the dynamic model of the longitudinal and lateral behavior of the engine special fixed point transformations are proposec to achieve adaptive tracking. These transformations were formerly successful applied for the control of holonomic systems. It is the first time that the combinec method is checked for various trajectories and dynamic model errors via simulation It yielded promising results.

Original languageEnglish
Pages (from-to)339-351
Number of pages13
JournalComputing and Informatics
Volume28
Issue number3
Publication statusPublished - 2009

Fingerprint

Dynamic models
Trajectories
Bicycles
Railroad cars
Engines
Derivatives
Controllers

Keywords

  • Adaptive control
  • Fixed point transformations
  • Nonholonomic systems
  • Optimal control

ASJC Scopus subject areas

  • Hardware and Architecture
  • Computer Networks and Communications
  • Computational Theory and Mathematics
  • Software

Cite this

Adaptive optimal dynamic control for nonholonomic systems. / Tar, J.; Rudas, I.

In: Computing and Informatics, Vol. 28, No. 3, 2009, p. 339-351.

Research output: Contribution to journalArticle

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