Applied multi-object tracking algorithm based on inverse linear quadratic theory to artificial robot

Author

Wang Yi ; Wang Zhi-liang ; Li Rui

Author_Institution

Sch. of Autom. & Electr. Eng, Univ. of Sci. & Technol. Beijing, Beijing, China

fYear

2013

fDate

20-22 Dec. 2013

Firstpage

840

Lastpage

843

Abstract

Considering to the coupling problem of robot system in multi-target tracking, the control method and its algorithm steps based on the inverse linear quadratic (ILQ) is proposed in this paper. Under the method, the optimal feedback matrix and adjustment coefficient of controlled system is solved by the expected closed-loop poles and state space equations, which makes the robot control system be asymptotic stability and robust. On this basis, the force trajectory simulation of robot movement is done.

Keywords

asymptotic stability; closed loop systems; feedback; linear quadratic control; matrix algebra; mobile robots; object tracking; pole assignment; robot vision; robust control; state-space methods; target tracking; trajectory control; ILQ; adjustment coefficient; algorithm steps; artificial robot; asymptotic stability; closed-loop poles; control method; coupling problem; force trajectory simulation; inverse linear quadratic theory; multiobject tracking algorithm; multitarget tracking; optimal feedback matrix; pole assignment; robot control system; robot movement; robust control; state space equations; Algorithm design and analysis; Control systems; Couplings; Design methodology; Educational institutions; Robots; Tracking; Inverse Linear Quadratic (ILQ); disturbance attenuation; multi-object Tracking; pole-assignment;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronic Sciences, Electric Engineering and Computer (MEC), Proceedings 2013 International Conference on

Conference_Location

Shengyang

Print_ISBN

978-1-4799-2564-3

Type

conf

DOI

10.1109/MEC.2013.6885175

Filename

6885175