Abstract
As discussed in the Chapter 5, the car and uncycle have very close relationship that allows controllability to propagate between the two systems. However, it was shown that the uniycle is not traceable by the car. This means that there exists a unicycle trajectory that does not the Φ-mapping of any car trajectory. The particular trajectory that causes problems is that of the rotating unicycle and addressing this problem in the open-loop setting is the focus of this chapter.
In this chapter, an open-loop optimal control algorithm is presented that utilizes the ε-traceability of the unicycle by the car. The algorithm is developed and simulation results are given for different initial car inputs. Their results are compared.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Mellodge, P., Kachroo, P. (2008). Open-Loop Control Design. In: Model Abstraction in Dynamical Systems: Application to Mobile Robot Control. Lecture Notes in Control and Information Sciences, vol 379. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-70799-8_7
Download citation
DOI: https://doi.org/10.1007/978-3-540-70799-8_7
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-70792-9
Online ISBN: 978-3-540-70799-8
eBook Packages: EngineeringEngineering (R0)