The Application of The Steepest Gradient Descent for Control Design of Dubins Car for Tracking a Desired Path

Miswanto Miswanto, I. Pranoto, H Muhammad, D Mahayana

Abstract


In this paper, we consider the control design of the Dubins car system to track a desired path. We design the control of the Dubins car system using optimal control approach. The control of the Dubins car system is designed for tracking the desired path. Instead of the usual quadratic cost function, a special type of cost functional which includes a tracking error term will be considered. By this special cost functional, the minimum tracking error of path of the Dubins car toward a desired path using Pontryagin Maximum Principle is obtained. The analytical solution of the Hamiltonian system is di±cult to obtain. So, a numerical solution with the steepest gradient descent method is proposed. The numerical results are given at the last section of this paper.

Keywords


Dubins Car System; Hamiltonian system; Gradient Descent; Numerical Simulation

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References


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DOI: http://dx.doi.org/10.12962/j1829605X.v4i1.1404

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Limits: Journal Mathematics and its Aplications by Pusat Publikasi Ilmiah LPPM Institut Teknologi Sepuluh Nopember is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Based on a work at https://iptek.its.ac.id/index.php/limits.