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Limits: Journal of Mathematics and Its Applications
Published by Institut Teknologi Sepuluh Nopember Surabaya
ISSN : 1829605X     EISSN : 25798936     DOI : -
Core Subject : Education,
Mathematics
Limits: Journal of Mathematics and Its Applications merupakan jurnal yang diterbitkan oleh Lembaga Penelitian dan Pengabdian Kepada Masyarakat (LPPM) Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia. Limits menerima makalah hasil riset di semua bidang Matematika, terutama bidang Analisis, Aljabar, Pemodelan Matematika, Sistem dan Kontrol, Matematika Diskrit dan Kombinatorik, Statistik dan Stokastik, Matematika Terapan, Optimasi, dan Ilmu Komputasi. Jurnal ini juga menerima makalah tentang survey literatur yang menstimulasi riset di bidang-bidang tersebut di atas.
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Search results for , issue " Vol 4, No 1 (2007)" : 1 Documents clear
The Application of The Steepest Gradient Descent for Control Design of Dubins Car for Tracking a Desired Path Miswanto, Miswanto; Pranoto, I.; Muhammad, H; Mahayana, D
Limits: Journal of Mathematics and Its Applications Vol 4, No 1 (2007)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (227.887 KB) | DOI: 10.12962/j1829605X.v4i1.1404

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.

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