Target-Point Interpolation of a Program Control in the Approach Problem

Pub Date : 2024-04-22 DOI:10.1134/s0965542524030035
A. V. Alekseev, A. A. Ershov
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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.

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接近问题中程序控制的目标点插值
摘要 对于非线性控制系统,考虑了一个固定时间方法问题,其中目标点位置只有在运动开始时才已知。根据所提出的解决方法,从目标点的可容许位置集合中预先计算出与目标点有限集合相对应的节点解析程序控制,并通过节点控制的线性插值确定运动开始时给定的目标点的精细控制。设计这种解析控制的程序由两种算法组成,其中一种算法在运动开始前运行,另一种算法在系统运动时实时执行。通过应用这些算法,可以估算出系统状态转移到目标点时的误差。举例来说,我们考虑了一个改进的杜宾斯汽车模型和一个目标点的接近问题,在运动开始前,只知道目标点的一组紧凑的可允许位置。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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