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Title: Time-optimal path tracking via reachability analysis
Authors: Pham, Hung
Pham, Quang-Cuong
Keywords: Engineering::Mechanical engineering
Issue Date: 2018
Source: Pham, H. & Pham, Q. (2018). Time-optimal path tracking via reachability analysis. 2018 IEEE International Conference on Robotics and Automation (ICRA), 3007-3012.
Project: ATMRI:2014- R6-PHAM 
Abstract: Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i) a path controller, which modulates the parameterization of the desired path in an online manner, yielding a reference trajectory; and (ii) a tracking controller, which takes the reference trajectory and outputs joint torques for tracking. However, there is one major difficulty: the path controller might not find any feasible reference trajectory that can be tracked by the tracking controller because of torque bounds. In turn, this results in degraded tracking performances. Here, we propose a new path controller that is guaranteed to find feasible reference trajectories by accounting for possible future perturbations. The main technical tool underlying the proposed controller is Reachability Analysis, a new method for analyzing path parameterization problems. Simulations show that the proposed controller outperforms existing methods.
ISBN: 9781538630815
DOI: 10.1109/ICRA.2018.8460576
Rights: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:ATMRI Conference Papers

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