Regular perturbations to the motion of a three-wheeled mobile robot with the front-wheel drive under restricted state variables

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2020

Autores

Chertovskih, R (Autor) FEUP; Anna Daryina (Autor) Outra; Askhat Diveev (Autor) Outra; Dmitry Karamzin (Autor) Outra; Fernando Lobo Pereira (Autor) FEUP; Fernando L. Pereira (Autor) Outra

Ata de Conferência Internacional

Título: European Control Conference 2020, ECC 2020

Páginas: 1210-1215

18th European Control Conference, ECC 2020

12 May 2020 through 15 May 2020

Indexação

ISI Web of Knowledge - 4 Citações

Scopus - 4 Citações

INSPEC

Outras Informações

ID Authenticus: P-00S-PMQ

Abstract (EN): The time-optimal motion of a three-wheeled mobile robot with the front-wheel drive in the presence of a state constraint given by the unit circle is investigated. The poor property of this problem consists in the lack of regularity of the dynamics w.r.t. the state constraint. Therefore, a certain regularization technique is developed in order to overcome the phenomenon of non-regularity. We propose a construction of an approximating sequence of regular ¿-problems. It follows that a regular w.r.t. the state constraint problem is numerically solvable in the framework of the indirect approach, that is, by using the maximum principle, due to the continuity of the measure-multiplier which is ensured under the regularity condition. This fact justifies the necessity for the perturbation analysis undertaken in this article. © 2020 EUCA.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6