A Stable Analytical Solution Method for Car-Like Robot Trajectory Tracking and Optimization

作     者：Keyvan Majd Mohammad Razeghi-Jahromi Abdollah Homaifar Keyvan Majd;Mohammad Razeghi-Jahromi;Abdollah Homaifar

作者机构：School of ComputingInformaticsand Decision Systems EngineeringArizona State UniversityTempeAZ 85281 USA ABB Corporate Research CenterRaleighNC 27606 USA Department of Electrical and Computer EngineeringNorth Carolina A&T State UniversityGreensboroNC 27403 USA 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2020年第7卷第1期

页      面：39-47页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the Air Force Research Laboratory and Office of the Secretary of Defense(OSD)(FA8750-15-2-0116) the US Department of Transportation(USDOT) Research and Innovative Technology Administration(RITA)under University Transportation Center(UTC)Program(DTRT13-G-UTC47) 

主　　题：Global asymptotic stability input-output linearization optimal control trajectory tracking 

摘      要：In this paper, the car-like robot kinematic model trajectory tracking and control problem is revisited by exploring an optimal analytical solution which guarantees the global exponential stability of the tracking error. The problem is formulated in the form of tracking error optimization in which the quadratic errors of the position, velocity, and acceleration are minimized subject to the rear-wheel car-like robot kinematic model. The input-output linearization technique is employed to transform the nonlinear problem into a linear formulation. By using the variational approach, the analytical solution is obtained, which is guaranteed to be globally exponentially stable and is also appropriate for real-time applications. The simulation results demonstrate the validity of the proposed mechanism in generating an optimal trajectory and control inputs by evaluating the proposed method in an eight-shape tracking scenario.