Singular optimal control for rendezvous problem for cooperative vehicle control

被引：0
|
作者：
Ekoru, John E. D. [1 ]
Ngwako, Mohlalakoma T. [1 ]
Madahana, Milka M. C. I. [2 ]
Nyandoro, Otis T. C. [1 ]
机构：
[1] Univ Witwatersrand, Sch Elect & Informat Engn, 1 Jan Smuts Ave, Johannesburg, South Africa
[2] Univ Witwatersrand, Sch Min Engn, 1 Jan Smuts Ave, Johannesburg, South Africa
来源：
IFAC PAPERSONLINE | 2023年 / 56卷 / 02期
关键词：
Aerial Vehicle; Ground Vehicle; rendezvous; optimal control; QUADROTOR; SLIP;
D O I：
10.1016/j.ifacol.2023.10.1476
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper an unmanned aerial vehicle works cooperatively with a unmanned ground vehicle to aid in the automatic control of the ground vehicle. One challenge is when the aerial vehicle has to urgently rendezvous with the ground vehicle. An optimal control problem is formulated for such a case, the key contribution is the singular optimal control rendezvous problem formulation. Illustrative results are utilised to demonstrate this key formulation of singular optimal control solution as well as the optimal rendezvous trajectory analysis.
引用
收藏
页码：3320 / 3325
页数：6
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