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 Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Mitsubishi Electric Research Laboratories
dc.date.accessioned 2014-02-27T18:45:09Z
dc.date.available 2014-02-27T18:45:09Z
dc.date.issued 2013-06
dc.description ©2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2013 American Control Conference (ACC 2013), 17-19 June 2013, Washington, D.C.
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 (ACC 2013), 17-19 June 2013, pp.1171-1176. en_US
dc.identifier.isbn 978-1-4799-0177-7
dc.identifier.issn 0743-1619
dc.identifier.uri http://hdl.handle.net/1853/51303
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers
dc.subject Minimum energy en_US
dc.subject Minimum time en_US
dc.subject Optimal control en_US
dc.subject Path tracking en_US
dc.title Speed Profile Optimization for Optimal Path Tracking en_US
dc.type Text
dc.type.genre Post-print
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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