Title:
Speed Profile Optimization for Optimal Path Tracking
Speed Profile Optimization for Optimal Path Tracking
dc.contributor.author | Zhao, Yiming | |
dc.contributor.author | Tsiotras, Panagiotis | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
dc.contributor.corporatename | Mitsubishi Electric Research Laboratories | en_US |
dc.date.accessioned | 2015-03-26T19:16:50Z | |
dc.date.available | 2015-03-26T19:16:50Z | |
dc.date.issued | 2013-11 | |
dc.description | Presented at American Control Conference, Washington, DC, June 17-19, 2013. | en_US |
dc.description.abstract | In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical systems. We focus on characterizing the optimal switching structure between extremal controls using optimal control theory, and present semi-analytical solutions to both problems. It is shown that the optimal solutions of these two problems are closely related. | en_US |
dc.embargo.terms | null | en_US |
dc.identifier.citation | Zhao, Y., and Tsiotras, P., "Speed Profile Optimization for Optimal Path Tracking," American Control Conference, Washington, DC, June 17-19, 2013. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/53249 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.subject | Optimal control | en_US |
dc.subject | Motion tracking | en_US |
dc.subject | Minimum energy | en_US |
dc.title | Speed Profile Optimization for Optimal Path Tracking | en_US |
dc.type | Text | |
dc.type.genre | Post-print | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.author | Tsiotras, Panagiotis | |
local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
relation.isAuthorOfPublication | bd4969ec-a869-452f-81f1-9f2dc8118b3c | |
relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |