Techniques de contrôle de prévision à court terme
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The...
In probability theory, Bayesian statistics, artificial intelligence and database theory the minimum cross-entropy principle is often used to estimate a distribution with a given set of marginal distributions under the proportionality assumption with respect to a given “prior” distribution . Such an estimation problem admits a solution if and only if there exists an extension of that is dominated by . In this paper we consider the case that is not given explicitly, but is specified as the...