Optimal control of unmanned robotic platform
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technologies
2024
chapter in monograph / paper
english
- unmanned ground vehicle
- optimal control
- state-dependent Riccati equation
EN This paper proposes an infinite-time horizon suboptimal control strategy based on state-dependent Riccati equation (SDRE) to control of unmanned ground vehicle (UGV). Cruise control of unmanned robotic platform is modelled and simulated. For vehicle modelling purpose a full 6 DOF model is considered and described by nonlinear state-space approach. Also a stable state-dependent parametrization (SDP) necessary for solution of the SDRE control problem is proposed and presented. Solution of the SDRE control problem with adequate defined weighting matrices in performance index shows possibility of fast and optimal vehicle control in infinite-time horizon. The method in this form can be used for mission planning of each ground vehicle tracking and dynamics control.
59 - 63
20
20