39001

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Автор(ов): 

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Параметры публикации

Тип публикации: 

Статья в журнале/сборнике

Название: 

Construction of the Best Ellipsoidal Approximation of the Attraction Domain in Stabilization Problem for a Wheeled Robot

ISBN/ISSN: 

0005-1179

DOI: 

10.1134/S0005117911030040

Наименование источника: 

  • Automation and Remote Control

Обозначение и номер тома: 

vol. 72, no. 3

Город: 

  • Moscow

Издательство: 

  • PLEIADES PUBLISHING Ltd.

Год издания: 

2011

Страницы: 

512-528
Аннотация
The synthesis control problem for the plane motion of a wheeled robot with constrained control resource is studied. The goal of the control is to bring the robot to an assigned curvilinear trajectory and to stabilize its motion along it. For a synthesized control law, the problem of finding the best in the sense of volume ellipsoidal approximation of the attraction domain of the target path is posed. To take into account constraints on the control, an approach based on methods of absolute stability theory is used, in the framework of which construction of an approximating ellipsoid reduces to solving a system of linear matrix inequalities. It is shown that the desired maximum-volume approximating ellipsoid can be found by solving a standard constrained optimization problem for a function of two variables.

Библиографическая ссылка: 

Пестерев А.В. Construction of the Best Ellipsoidal Approximation of the Attraction Domain in Stabilization Problem for a Wheeled Robot // Automation and Remote Control. 2011. vol. 72, no. 3. С. 512-528.

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