Abstract:
In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tr...Show MoreMetadata
Abstract:
In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical systems. We focus on characterizing the optimal switching structure between extremal controls using optimal control theory, and present semi-analytical solutions to both problems. It is shown that the optimal solutions of these two problems are closely related.
Published in: 2013 American Control Conference
Date of Conference: 17-19 June 2013
Date Added to IEEE Xplore: 15 August 2013
ISBN Information: