Abstract
The concept of feasible command strategies is introduced and its applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its endpoint, about the disk center. The motion of the disk-rod system is subjected to state and control constraints, and it serves as a model for the motion of a simple mobile robot. In addition, the concept of path controllability is introduced and a condition is derived for the system motion path controllability. The derivation of this condition enables one to design closed-loop control laws for the system motion.
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Communicated by C. T. Leondes
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Yavin, Y., Frangos, C. Feasible command strategies for the control of motion of a simple mobile robot. J Optim Theory Appl 90, 671–692 (1996). https://doi.org/10.1007/BF02189801
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DOI: https://doi.org/10.1007/BF02189801