Article
Version 1
Preserved in Portico This version is not peer-reviewed
Modeling and Control of a Front-Axle Bicycle Robot
Version 1
: Received: 26 August 2022 / Approved: 31 August 2022 / Online: 31 August 2022 (05:02:14 CEST)
How to cite: Mavungu, M. Modeling and Control of a Front-Axle Bicycle Robot. Preprints 2022, 2022080533. https://doi.org/10.20944/preprints202208.0533.v1 Mavungu, M. Modeling and Control of a Front-Axle Bicycle Robot. Preprints 2022, 2022080533. https://doi.org/10.20944/preprints202208.0533.v1
Abstract
This paper develops feasible control strategies and associated system responses to bring an autonomous front-axle bicycle robot from specified initial conditions to final conditions such that a specific performance index is minimized. To solve the problem, the following approach is used: The feasible controls derived from the normal equations of optimality are substituted into the state and the costate systems and form a combined control-free state-costate system which is vectorized to enable and ease the application of a numerical method. A computer program written in Matlab computer programming language, codes a fourth-order Runge-Kutta numerical method and then solve the combined state-costate system of ordinary differential equations. The obtained results are the feasible bicycle robot trajectory, the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations are designed and provided to persuade on the effectiveness and the reliability of the approach.
Keywords
autonomous vehicle, bicycle Robot, modelling, optimal control, path planning, differential equation, initial value problem, Runge-Kutta, scientific computing
Subject
Engineering, Control and Systems Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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