Time-Optimal Path-Following Operation in the Presence of Uncertainty

Path-following tasks, which refer to dynamic motion planning along pre-specified geometric references, are frequently encountered in applications such as milling, robot-supported measurements, and trajectory planning for autonomous vehicles. Different convex and non-convex optimal control formulations have been proposed to tackle these problems for the case of perfect models. This paper analyzes path-following problems in the presence of plant-model mismatch. The proposed adaptation strategies rely on concepts that are well known in the field of real-time optimization. We present conditions guaranteeing that, upon convergence, a minimum-time solution is attained despite the presence of plant-model mismatch. We draw upon a simulated robotic example to illustrate our results.


Published in:
Proc. 15th European Control Conference
Presented at:
15th European Control Conference, Aalborg, Denmark, June 29 - July 1, 2016
Year:
2016
Publisher:
New York, Ieee
Keywords:
Laboratories:




 Record created 2016-03-30, last modified 2018-09-13


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