2016/03/20 by Enrico Bertolazzi, Bertolazzi, Enrico, Marco Frego +1
Engineering · #Vehicle Dynamics and Control Systems #Control and Dynamics of Mobile Robots #Aerospace Engineering and Control Systems
paper · pdf · doi:10.48550/arxiv.1603.06245
The basic module for the solution of the minimum time optimal control of a\ncar-like vehicle is herein presented. The vehicle is subject to the effect of\nlaminar (linear) and aerodynamic (quadratic) drag, taking into account the\nasymmetric bounded longitudinal accelerations. This module is studied and\ndesigned to be fast and robust in sight to be the fundamental building block of\na more extended optimal control problem that considers a given clothoid as the\ntrajectory and the presence of a constraint on the lateral acceleration of the\nvehicle. The nonlinear dynamics and the different possible boundary conditions\nyield different analytical solutions of the differential equations, hence they\nby themselves a particular attention. The study of the numeric stability of the\ncomputation for limit values of the parameters is essential as showed in the\nnumerical tests.\n