We present an iterative linear quadratic regulator(ILQR) method for trajectory tracking control of a wheeled mobile robot system.The proposed scheme involves a kinematic model linearization technique,a global trajecto...We present an iterative linear quadratic regulator(ILQR) method for trajectory tracking control of a wheeled mobile robot system.The proposed scheme involves a kinematic model linearization technique,a global trajectory generation algorithm,and trajectory tracking controller design.A lattice planner,which searches over a 3D(x,y,θ) configuration space,is adopted to generate the global trajectory.The ILQR method is used to design a local trajectory tracking controller.The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot.The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator(LQR) method.According to the experiments,the new controller improves the control sequences(v,ω) iteratively and produces slightly better results.Specifically,two trajectories,'S' and '8' courses,are followed with sufficient accuracy using the proposed controller.展开更多
The distant downstream proportional integral(PI) feedback control was applied to the W-M lateral canal of the Maricopa Stanfield Irrigation and Drainage District located in central Arizona,U.S.A.Proper configuration o...The distant downstream proportional integral(PI) feedback control was applied to the W-M lateral canal of the Maricopa Stanfield Irrigation and Drainage District located in central Arizona,U.S.A.Proper configuration of those controls for the ca-nal can be challenging.Towards this end,an integrated approach to the design of an automatic control system for the canal was proposed.This approach presented herein is not only a systematical review of previous work,but also represents a further ad-vance of the previous simulation study by Tsinghua University(Shang et al,2011) on relating the canal control algorithm to local PI controls for the real canal.To evaluate the control system potential,performance of the control algorithm that was ob-tained through implanting predicative module into linear quadratic regulator(LQR) was analyzed with singular value bode.Additional "manufactured" tests were conducted to compare with the control system that is currently in use.The results indi-cated that the developed control system rather than the system in current use had considerable potential to closely match dis-charge at the downstream check structures with those ordered by water users while maintaining the water level throughout the length of the canal.展开更多
基金Project (Nos. 90920304 and 91120015) supported by the National Natural Science Foundation of China
文摘We present an iterative linear quadratic regulator(ILQR) method for trajectory tracking control of a wheeled mobile robot system.The proposed scheme involves a kinematic model linearization technique,a global trajectory generation algorithm,and trajectory tracking controller design.A lattice planner,which searches over a 3D(x,y,θ) configuration space,is adopted to generate the global trajectory.The ILQR method is used to design a local trajectory tracking controller.The effectiveness of the proposed method is demonstrated in simulation and experiment with a significantly asymmetric differential drive robot.The performance of the local controller is analyzed and compared with that of the existing linear quadratic regulator(LQR) method.According to the experiments,the new controller improves the control sequences(v,ω) iteratively and produces slightly better results.Specifically,two trajectories,'S' and '8' courses,are followed with sufficient accuracy using the proposed controller.
基金supported by the National Natural Science Foundation of China(Grant Nos.51109112,51109079)the Open Research Fund of State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin (Grant No.IWHR-SKL-201117)+1 种基金the China Postdoctoral Science Foundation(Grant No.20110490412)the China Scholarship Council is acknowledged for the financial support
文摘The distant downstream proportional integral(PI) feedback control was applied to the W-M lateral canal of the Maricopa Stanfield Irrigation and Drainage District located in central Arizona,U.S.A.Proper configuration of those controls for the ca-nal can be challenging.Towards this end,an integrated approach to the design of an automatic control system for the canal was proposed.This approach presented herein is not only a systematical review of previous work,but also represents a further ad-vance of the previous simulation study by Tsinghua University(Shang et al,2011) on relating the canal control algorithm to local PI controls for the real canal.To evaluate the control system potential,performance of the control algorithm that was ob-tained through implanting predicative module into linear quadratic regulator(LQR) was analyzed with singular value bode.Additional "manufactured" tests were conducted to compare with the control system that is currently in use.The results indi-cated that the developed control system rather than the system in current use had considerable potential to closely match dis-charge at the downstream check structures with those ordered by water users while maintaining the water level throughout the length of the canal.
