Model-based optimal control for resolving loose and strict constraints in anholonom devices

J. Tar, I. Rudas, László Nádai, Roland Kovács

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The wheeled vehicles normally are nonholonomic systems the position of which cannot be described by the use of generalized coordinates. Instead of that the first time derivatives of the local axles (coordinates) can be mapped to that of some measures of global frame of reference. For the majority of such systems the position and pose cannot arbitrarily be determined. For tracking a path of considerable velocity a good kinematic solution may be the application of Optimal Control (OC) under constraints in which a compromise can be found in meeting various requirements in contradiction. The constraints i.e. the properties of the kinematic map must be taken strictly because they guarantee the physical interpretability of the computational results. In the present paper a mixed goal function containing compromises is optimized under rigorous constraints using the Reduced Gradient Method (RGM) for tracking control of a bicycle of considerable velocity. Simulation calculations show the applicability of this concept we wish to use mainly for educational purposes.

Original languageEnglish
Title of host publication15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008
Pages4258-4269
Number of pages12
Volume6
Publication statusPublished - 2008
Event15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008 - New York, NY, United States
Duration: Nov 16 2008Nov 20 2008

Other

Other15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008
CountryUnited States
CityNew York, NY
Period11/16/0811/20/08

Fingerprint

Kinematics
compromise
Bicycles
Gradient methods
Axles
bicycle
Derivatives
guarantee
simulation

Keywords

  • Lagrange multipliers
  • Optimization under constraints
  • Pontryagin's optimal control
  • Reduced gradient method
  • Tracking control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Transportation
  • Automotive Engineering
  • Computer Networks and Communications
  • Artificial Intelligence
  • Computer Science Applications

Cite this

Tar, J., Rudas, I., Nádai, L., & Kovács, R. (2008). Model-based optimal control for resolving loose and strict constraints in anholonom devices. In 15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008 (Vol. 6, pp. 4258-4269)

Model-based optimal control for resolving loose and strict constraints in anholonom devices. / Tar, J.; Rudas, I.; Nádai, László; Kovács, Roland.

15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008. Vol. 6 2008. p. 4258-4269.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Rudas, I, Nádai, L & Kovács, R 2008, Model-based optimal control for resolving loose and strict constraints in anholonom devices. in 15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008. vol. 6, pp. 4258-4269, 15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008, New York, NY, United States, 11/16/08.
Tar J, Rudas I, Nádai L, Kovács R. Model-based optimal control for resolving loose and strict constraints in anholonom devices. In 15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008. Vol. 6. 2008. p. 4258-4269
Tar, J. ; Rudas, I. ; Nádai, László ; Kovács, Roland. / Model-based optimal control for resolving loose and strict constraints in anholonom devices. 15th World Congress on Intelligent Transport Systems and ITS America Annual Meeting 2008. Vol. 6 2008. pp. 4258-4269
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