Duality-Based Nonlinear Quadratic Control: Application to Mobile Robot Trajectory-Following

Open Access

Abstract

(c) 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. ; [EN] This paper presents noniterative linearizationbased controllers for nonlinear unconstrained systems, coined as extended Rauch Tung Striebel (ERTS) and unscented Rauch Tung Striebel (URTS) controllers, derived from the duality between optimal control and estimation. The proposed controllers use a Rauch Tung Striebel forward backward smoother as an state estimator to compute the original optimal control problem. The new controllers are applied to trajectory-following problems of differential-drive mobile robots and compared with iterative linear quadratic regulator controller, nonlinear model predictive control, and approximate inference approaches. Simulations show that ERTS and URTS controllers produce almost optimal solutions with a significantly lower computing time, avoiding initialization issues in the other algorithms (in fact, they can be used to initialize them). This paper validates ERTS controller with an experiment of a Pioneer 3-DX mobile robot. ; This work was supported in part by the PrometeoII/2013/004 through the Generalitat Valenciana, in part by the Spanish Government under Project DPI2011-27845-C02-01, in part by the VALi+d Program through the Generalitat Valenciana, in part by the European Regional Development Fund through the Ministry of Education, Youth and Sports, Czech Republic, under Project CZ.1.05/2.1.00/03.0094, in part by the Regional Innovation Centre for Electrical Engineering, and in part by the Czech Science Foundation under Project GACR P 102/11/0437. Recommended by Associate Editor A. G. Aghdam. ; Armesto Ángel, L.; Girbés, V.; Sala, A.; Miroslav Zima; Václav mídl (2015). Duality-Based Nonlinear Quadratic Control: ...