{"title":"Target-Point Interpolation of a Program Control in the Approach Problem","authors":"A. V. Alekseev, A. A. Ershov","doi":"10.1134/s0965542524030035","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>For a nonlinear controlled system, a fixed-time approach problem is considered in which the target point location becomes known only at the start of motion. According to the proposed solution method, node resolving program controls corresponding to a finite collection of target points from the set of their admissible locations are computed in advance and a refined control for the target point given at the start of motion is determined via linear interpolation of the node controls. The procedure for designing such a resolving control is formulated in the form of two algorithms, one of which is run before the start of the motion, and the other is executed in real time while the system is moving. The error in the transfer of the system’s state to the target point by applying these algorithms is estimated. As an example, we consider the approach problem for a modified Dubins car model and a target point about which only a compact set of its admissible locations is known before the start of motion.</p>","PeriodicalId":55230,"journal":{"name":"Computational Mathematics and Mathematical Physics","volume":"32 1","pages":""},"PeriodicalIF":0.7000,"publicationDate":"2024-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Computational Mathematics and Mathematical Physics","FirstCategoryId":"100","ListUrlMain":"https://doi.org/10.1134/s0965542524030035","RegionNum":4,"RegionCategory":"数学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"MATHEMATICS, APPLIED","Score":null,"Total":0}
引用次数: 0
Abstract
For a nonlinear controlled system, a fixed-time approach problem is considered in which the target point location becomes known only at the start of motion. According to the proposed solution method, node resolving program controls corresponding to a finite collection of target points from the set of their admissible locations are computed in advance and a refined control for the target point given at the start of motion is determined via linear interpolation of the node controls. The procedure for designing such a resolving control is formulated in the form of two algorithms, one of which is run before the start of the motion, and the other is executed in real time while the system is moving. The error in the transfer of the system’s state to the target point by applying these algorithms is estimated. As an example, we consider the approach problem for a modified Dubins car model and a target point about which only a compact set of its admissible locations is known before the start of motion.
期刊介绍：
Computational Mathematics and Mathematical Physics is a monthly journal published in collaboration with the Russian Academy of Sciences. The journal includes reviews and original papers on computational mathematics, computational methods of mathematical physics, informatics, and other mathematical sciences. The journal welcomes reviews and original articles from all countries in the English or Russian language.
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