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B. Deniz Ilhan

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Dynamical Trajectory Replanning for Uncertain Environments

‘Proceedings of the 2012 IEEE 51st Annual Conference on Decision and Control (CDC)’‘

December, 2012

Shai Revzen*, B. Deniz Ilhan†, and D. E. Koditschek
*: Electrical Engineering and Computer Science, University of Michigan
†: Electrical and Systems Engineering, University of Pennsylvania
Full PDF | Penn ScholarlyCommons | IEEE Xplore

Abstract
       We propose a dynamical reference generator equipped with an augmented transient “replanning” subsystem that modulates a feedback controller’s efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator’s output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate that the new reference generator cannot destabilize the tracker, that tracking errors converge in the absence of disturbance, and that the overall coupled reference-tracker system cannot be destabilized by disturbances of bounded energy. We report the results of simulation studies exploring the performance of this new design applied to a two dimensional point mass particle interacting with fixed but unknown terrain obstacles.
       This work was supported in part by AFOSR under the CHASE MURI FA95501010567 and in part by ONR under the HUNT MURI N00014–07–0829.
BibTeX entry
@INPROCEEDINGS{6425897, 
  author={Revzen, S. and Ilhan, B.D. and Koditschek, D.E.}, 
  booktitle={Decision and Control (CDC), 2012 IEEE 51st Annual Conference on}, 
  title={Dynamical trajectory replanning for uncertain environments}, 
  year={2012}, 
  pages={3476-3483}, 
  doi={10.1109/CDC.2012.6425897}, 
  ISSN={0743-1546},
}

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