RA-L 20173 citations
Relaxing Nonholonomic Constraints to Eliminate Chattering From Time-Optimal Control Solutions
Salah Bazzi, Elie A. Shammas, Daniel C. Asmar
Abstract
This letter presents a new approach to tackle the problem of infinite chattering, observed at bang-singular junctions of the minimum-time trajectories of car-like robots with bounded angular acceleration control. To eliminate chattering from time-optimal control solutions, we propose to relax the ideal nonholonomic constraint of no-skidding. A proof is presented to demonstrate that this relaxation eliminates chattering from the bang-singular junctions. Finally, a solution to the time-optimal synthesis under the condition of small skid angles is provided.
BibTeX
@inproceedings{ral2017_relaxingnonholon,
title = {Relaxing Nonholonomic Constraints to Eliminate Chattering From Time-Optimal Control Solutions},
author = {Salah Bazzi and Elie A. Shammas and Daniel C. Asmar},
booktitle = {RA-L 2017},
year = {2017}
}