On some regularization of the control problem for a tracked mobile robot in a steady flow field under state constraints

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2022

Autores

Chertovskih, RA (Autor) FEUP; Daryina, AN (Autor) Outra; Dmitry Karamzin (Autor) FEUP; Pereira, FL (Autor) Outra

Ata de Conferência Internacional

Título: IFAC PAPERSONLINE

Páginas: 226-230

10th Vienna International Conference on Mathematical Modelling (MATHMOD)

Tech Univ Wien, ELECTR NETWORK, JUL 27-29, 2022

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 226 Citações

Outras Informações

ID Authenticus: P-00X-6XZ

DOI: 10.1016/j.ifacol.2022.09.0128

Abstract (EN): In this article, we consider the time-optimal motion control of a tracked mobile robot in the presence of state constraints. The complexity of the problem statement is due to a steady vector flow field in which the motion is takes place. The difficulty of the considered model is also compounded with the non-regularity of the dynamics with respect to the state constraints. A method for regularisation is proposed. Such a method involves a certain construction of a regular (in the needed sense) epsilon-perturbation of the original problem. Copyright (C) 2022 The Authors.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 5