Title:
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
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