Title :
The design of time-optimal control for two-wheel driven carts tracking a moving target
Author :
Zheng, Yi ; Moore, Philip
Author_Institution :
Dept. of Mech. & Manuf. Eng., De Montfort Univ., Leicester, UK
Abstract :
This paper addresses the problem of time-optimal tracking for two-wheel driven carts. The objective of this research is to design a time-optimal tracking control strategy. In this paper, a search method is proposed for the carts to track and catch the target moving on a known straight line trajectory. Using numerical example, we show simulation results
Keywords :
bang-bang control; maximum principle; minimax techniques; mobile robots; motion control; robot kinematics; search problems; target tracking; time optimal control; tracking; velocity control; Pontryagin maximum principle; bang bang control; kinematics; mobile robots; motion control; moving target tracking; search method; straight line trajectory; time-optimal control; two-wheel driven carts; velocity control; Force control; Kinematics; Mobile robots; Motion control; Optimal control; Portable media players; Target tracking; Torque control; Trajectory; Wheels;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479195
