Time-Optimal Path Tracking for Robots: A Convex Optimization Approach

This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving...

Full description

Saved in:

Bibliographic Details
Published in:	IEEE transactions on automatic control Vol. 54; no. 10; pp. 2318 - 2327
Main Authors:	Verscheure, D., Demeulenaere, B., Swevers, J., De Schutter, J., Diehl, M.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2009 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Actuators Applied sciences Automatic control Computer science; control theory; systems Control system synthesis Control theory. Systems Exact sciences and technology Manipulator dynamics Mathematical analysis Mathematical models Motion planning Nonlinearity Numerical analysis Optimal control Optimization Orbital robotics Path planning Path tracking Robot kinematics Robotics Robots Robustness Second-order cone program (SOCP)-based solution method State-space methods Tracking Minimum time Optimal control Optimal trajectory Optimal path Convexity Optimal planning Second-order cone program (SOCP)-based solution method Motion control Convex programming Variable transformation Robotics
ISSN:	0018-9286, 1558-2523
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Abstract	This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving extension are introduced, resulting in a versatile approach for optimal path tracking. A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available. Validation against known examples and application to a more complex example illustrate the versatility and practicality of the new method.
AbstractList	This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem is transformed here into a convex optimal control problem with a single state. Various convexity-preserving extension are introduced, resulting in a versatile approach for optimal path tracking. A direct transcription method is presented that reduces finding the globally optimal trajectory to solving a second-order cone program using robust numerical algorithms that are freely available. Validation against known examples and application to a more complex example illustrate the versatility and practicality of the new method.
Author	Demeulenaere, B. Swevers, J. Diehl, M. Verscheure, D. De Schutter, J.
Author_xml	– sequence: 1 givenname: D. surname: Verscheure fullname: Verscheure, D. organization: Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium – sequence: 2 givenname: B. surname: Demeulenaere fullname: Demeulenaere, B. organization: Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium – sequence: 3 givenname: J. surname: Swevers fullname: Swevers, J. organization: Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium – sequence: 4 givenname: J. surname: De Schutter fullname: De Schutter, J. organization: Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium – sequence: 5 givenname: M. surname: Diehl fullname: Diehl, M. organization: Dept. of Electr. Eng. (ES AT), Katholieke Univ. Leuven, Leuven, Belgium
BackLink	http://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=22006994$$DView record in Pascal Francis
BookMark	eNp9kUtLAzEURoNUsFX3gptBEFejeTdxV0p9QKEidR0ymUSj00lNpqL-elNbXbhwkxA4383HPQPQa0NrAThC8BwhKC_mo_E5hlDmAwvJ5A7oI8ZEiRkmPdCHEIlSYsH3wCCl5_zklKI-mMz9wpazZecXuinudPdUzKM2L759LFyIxX2oQpcui1ExDu2bfS--Uf-pOx_aYrRcxqDN0wHYdbpJ9nB774OHq8l8fFNOZ9e349G0NBSJrrRyyKnTuSbnFYWScERrB6EzdUUdqYgb1ozSmplaU00d1nUlqNBSckyIrMg-ONvMzd--rmzq1MInY5tGtzaskhJDBvFQUpnJkz_kc1jFNpdTgiOCBMQ8Q6dbSCejGxd1a3xSy5iXET8UXheVkmaObzgTQ0rROmV8972BLmrfKATV2oHKDtTagdo6yEH4J_gz-5_I8SbirbW_OMOMZ3nkCwPIkXk
CODEN	IETAA9
CitedBy_id	crossref_primary_10_1017_S026357472300022X crossref_primary_10_1016_j_mechatronics_2022_102753 crossref_primary_10_1177_0959651813502644 crossref_primary_10_1108_01439911211201636 crossref_primary_10_1109_ACCESS_2019_2891663 crossref_primary_10_1002_mma_10399 crossref_primary_10_1016_j_ifacol_2017_08_386 crossref_primary_10_1109_TAC_2015_2466911 crossref_primary_10_1109_TIE_2018_2874617 crossref_primary_10_3390_act11110332 crossref_primary_10_1109_TASE_2021_3111758 crossref_primary_10_1109_TMECH_2023_3234584 crossref_primary_10_1016_j_mechmachtheory_2021_104606 crossref_primary_10_1016_j_rcim_2019_02_009 crossref_primary_10_1007_s10846_018_0922_5 crossref_primary_10_1007_s11831_017_9215_6 crossref_primary_10_1088_1742_6596_2492_1_012025 crossref_primary_10_1002_oca_2234 crossref_primary_10_1109_TASE_2024_3374752 crossref_primary_10_1115_1_4069213 crossref_primary_10_1016_j_ifacol_2016_10_586 crossref_primary_10_1109_LRA_2017_2655580 crossref_primary_10_1109_TRO_2024_3502505 crossref_primary_10_1109_LRA_2025_3549647 crossref_primary_10_1109_TMECH_2021_3063627 crossref_primary_10_1109_TSMC_2023_3323005 crossref_primary_10_1109_TCST_2021_3058845 crossref_primary_10_1016_j_trc_2023_104170 crossref_primary_10_1109_ACCESS_2018_2845448 crossref_primary_10_1109_TCST_2012_2186299 crossref_primary_10_1177_0278364918804660 crossref_primary_10_1007_s00170_022_09792_y crossref_primary_10_1109_TASE_2023_3346693 crossref_primary_10_1109_TMECH_2018_2810828 crossref_primary_10_31801_cfsuasmas_1512521 crossref_primary_10_1016_j_fusengdes_2016_10_007 crossref_primary_10_1177_0954405414558698 crossref_primary_10_1145_2629535 crossref_primary_10_1177_0954405414555742 crossref_primary_10_1109_LRA_2020_3003871 crossref_primary_10_1109_TCST_2016_2554520 crossref_primary_10_1016_j_robot_2021_103744 crossref_primary_10_1016_j_robot_2025_105120 crossref_primary_10_1155_2019_4872189 crossref_primary_10_1002_rnc_5284 crossref_primary_10_1109_TMECH_2015_2409479 crossref_primary_10_1002_oca_2376 crossref_primary_10_1109_LRA_2019_2929979 crossref_primary_10_1109_TRO_2022_3160022 crossref_primary_10_1016_j_sysconle_2015_07_001 crossref_primary_10_1109_TRO_2020_2993215 crossref_primary_10_1016_j_anucene_2024_110781 crossref_primary_10_1080_24725854_2018_1542543 crossref_primary_10_1109_LCSYS_2023_3278251 crossref_primary_10_1016_j_mechmachtheory_2019_103589 crossref_primary_10_1016_j_mechatronics_2025_103352 crossref_primary_10_1109_TITS_2023_3259003 crossref_primary_10_1016_j_automatica_2025_112465 crossref_primary_10_1080_00423114_2017_1420808 crossref_primary_10_1109_TRO_2019_2899212 crossref_primary_10_1145_2897824_2925980 crossref_primary_10_3390_drones9030194 crossref_primary_10_3390_s18072185 crossref_primary_10_1016_j_ast_2023_108589 crossref_primary_10_1007_s10589_017_9978_6 crossref_primary_10_1109_LCSYS_2019_2919809 crossref_primary_10_1007_s11370_016_0211_8 crossref_primary_10_1016_j_ifacol_2017_08_749 crossref_primary_10_1007_s41693_021_00057_w crossref_primary_10_1016_j_rcim_2016_01_003 crossref_primary_10_1007_s12555_014_0495_4 crossref_primary_10_1016_j_gmod_2025_101297 crossref_primary_10_1109_TRO_2018_2880120 crossref_primary_10_1049_iet_csr_2018_0003 crossref_primary_10_1109_JPROC_2020_3028295 crossref_primary_10_1049_iet_cta_2018_5532 crossref_primary_10_1016_j_isatra_2023_12_030 crossref_primary_10_3390_app10238641 crossref_primary_10_1016_j_ifacol_2017_08_2123 crossref_primary_10_1109_LRA_2022_3187260 crossref_primary_10_1109_LRA_2023_3240361 crossref_primary_10_1016_j_jfranklin_2024_107270 crossref_primary_10_1016_j_ifacol_2017_08_1957 crossref_primary_10_1109_ACCESS_2019_2915999 crossref_primary_10_1016_j_rcim_2023_102679 crossref_primary_10_1109_TCST_2021_3062223 crossref_primary_10_1139_tcsme_2019_0007 crossref_primary_10_3390_en15238795 crossref_primary_10_1016_j_mechatronics_2017_05_008 crossref_primary_10_1016_j_rcim_2012_08_002 crossref_primary_10_1007_s11633_019_1190_y crossref_primary_10_1049_tje2_12406 crossref_primary_10_1109_TRO_2023_3301298 crossref_primary_10_3390_machines12110802 crossref_primary_10_3390_act11050130 crossref_primary_10_1109_TIE_2021_3118367 crossref_primary_10_1109_JAS_2024_124374 crossref_primary_10_1139_tcsme_2020_0162 crossref_primary_10_1002_rob_21906 crossref_primary_10_1109_LRA_2018_2853806 crossref_primary_10_1080_00207179_2013_875224 crossref_primary_10_1016_j_automatica_2013_09_019 crossref_primary_10_1109_LRA_2019_2895110 crossref_primary_10_1109_TMECH_2020_2993617 crossref_primary_10_1007_s00170_019_04308_7 crossref_primary_10_1109_LRA_2024_3359547 crossref_primary_10_1017_S0263574718000863 crossref_primary_10_1016_j_automatica_2014_02_011 crossref_primary_10_1016_j_eswa_2025_127871 crossref_primary_10_1017_S0263574721001296 crossref_primary_10_1080_0951192X_2017_1379099 crossref_primary_10_1016_j_cirpj_2025_05_009 crossref_primary_10_1109_TRO_2013_2277565 crossref_primary_10_1109_LRA_2022_3204903 crossref_primary_10_1109_TSP_2016_2568161 crossref_primary_10_1016_j_procir_2021_01_095 crossref_primary_10_1007_s00170_022_09517_1 crossref_primary_10_1109_TASE_2023_3331505 crossref_primary_10_1080_00207179_2017_1286535 crossref_primary_10_1109_TMECH_2017_2671371 crossref_primary_10_1109_TASE_2020_2980423 crossref_primary_10_1016_j_mechmachtheory_2024_105885 crossref_primary_10_1109_TCST_2017_2661824 crossref_primary_10_1109_TII_2018_2851963 crossref_primary_10_1109_TIV_2023_3321275 crossref_primary_10_1007_s11012_010_9339_3 crossref_primary_10_1016_j_cja_2021_06_011 crossref_primary_10_1016_j_eswa_2025_129269 crossref_primary_10_1108_IR_12_2021_0301 crossref_primary_10_3390_act14060272 crossref_primary_10_1109_TCSI_2010_2055331 crossref_primary_10_1109_TAC_2022_3198113 crossref_primary_10_1109_TASE_2021_3117691 crossref_primary_10_5772_10571 crossref_primary_10_3390_electronics10222793 crossref_primary_10_1016_j_cad_2013_07_002 crossref_primary_10_1016_j_mechmachtheory_2020_104152 crossref_primary_10_1109_TCST_2019_2928505 crossref_primary_10_1109_LRA_2022_3142396 crossref_primary_10_1109_TASE_2018_2882764 crossref_primary_10_1109_TASE_2018_2864773 crossref_primary_10_2514_1_G001210 crossref_primary_10_1109_LRA_2020_2965861 crossref_primary_10_1016_j_tcs_2021_10_024 crossref_primary_10_1016_j_procir_2014_06_043 crossref_primary_10_1109_LRA_2025_3586521 crossref_primary_10_1007_s12555_022_1082_8 crossref_primary_10_1016_j_ifacol_2017_08_1113 crossref_primary_10_1007_s12555_019_0703_3 crossref_primary_10_1109_TCYB_2024_3361880 crossref_primary_10_1109_TIE_2022_3165288 crossref_primary_10_1007_s10957_019_01626_4 crossref_primary_10_1109_TMECH_2022_3164101 crossref_primary_10_1109_ACCESS_2020_2972346 crossref_primary_10_1109_TCST_2021_3139762 crossref_primary_10_2514_1_57779 crossref_primary_10_1177_0954406220981113 crossref_primary_10_1007_s10514_017_9629_x crossref_primary_10_1016_j_jmsy_2022_10_020 crossref_primary_10_1016_j_nahs_2018_06_004 crossref_primary_10_1016_j_rcim_2020_101969 crossref_primary_10_1080_0951192X_2017_1305507 crossref_primary_10_1016_j_mechatronics_2011_07_008 crossref_primary_10_1109_TAC_2022_3172169 crossref_primary_10_1109_TRO_2014_2351113 crossref_primary_10_3390_act13030108 crossref_primary_10_1049_iet_cta_2018_6178 crossref_primary_10_1109_TRO_2014_2305493 crossref_primary_10_1016_j_jappmathmech_2016_04_013 crossref_primary_10_1109_TCST_2017_2664722 crossref_primary_10_1109_TSP_2017_2728498 crossref_primary_10_1016_j_addma_2019_101003 crossref_primary_10_2514_1_G002405 crossref_primary_10_1109_TPEL_2022_3200969 crossref_primary_10_3390_machines6030037 crossref_primary_10_1016_j_conengprac_2019_104260 crossref_primary_10_1016_j_ifacol_2024_09_022 crossref_primary_10_1109_LCSYS_2025_3583741 crossref_primary_10_1016_j_rcim_2021_102308 crossref_primary_10_1016_j_conengprac_2019_104264 crossref_primary_10_1109_TASE_2024_3458984 crossref_primary_10_1016_j_ifacol_2020_12_2722 crossref_primary_10_1007_s10514_018_9728_3 crossref_primary_10_1109_TRO_2020_3010632 crossref_primary_10_1016_j_mechatronics_2021_102540 crossref_primary_10_1016_j_mechmachtheory_2021_104545 crossref_primary_10_1016_j_cirpj_2025_04_005 crossref_primary_10_1108_IR_03_2019_0063 crossref_primary_10_1109_LRA_2021_3058916 crossref_primary_10_1007_s41315_024_00357_8 crossref_primary_10_1016_j_conengprac_2023_105668 crossref_primary_10_1109_TAC_2020_3033712 crossref_primary_10_1109_TCST_2024_3494993 crossref_primary_10_1007_s10010_017_0258_5 crossref_primary_10_1177_0954406219833077 crossref_primary_10_1007_s11633_019_1209_4 crossref_primary_10_1016_j_sysconle_2011_11_005 crossref_primary_10_1088_1361_6501_adecb5 crossref_primary_10_1016_j_jfranklin_2020_05_024 crossref_primary_10_1007_s00170_014_6737_z crossref_primary_10_1017_S0263574713000039 crossref_primary_10_1515_auto_2020_0048 crossref_primary_10_1017_S0263574719000547 crossref_primary_10_1109_ACCESS_2013_2283031 crossref_primary_10_1007_s10107_018_1282_4 crossref_primary_10_1108_IR_06_2015_0119 crossref_primary_10_1109_LRA_2021_3076968 crossref_primary_10_1109_TCYB_2025_3556703 crossref_primary_10_1177_0278364914527855 crossref_primary_10_1109_LRA_2024_3469814 crossref_primary_10_1016_j_ejco_2025_100112 crossref_primary_10_1109_TAC_2022_3207865 crossref_primary_10_1109_TASE_2016_2641743 crossref_primary_10_1007_s40032_025_01171_2 crossref_primary_10_2514_1_G007645 crossref_primary_10_1002_oca_924 crossref_primary_10_1016_j_ifacol_2019_12_670 crossref_primary_10_3390_act13050189 crossref_primary_10_1007_s00170_013_4790_7 crossref_primary_10_1109_TCST_2014_2332140 crossref_primary_10_1017_S026357471700011X crossref_primary_10_1109_LRA_2022_3191813 crossref_primary_10_1007_s11771_020_4561_1 crossref_primary_10_1108_IR_08_2015_0167 crossref_primary_10_1080_00207721_2025_2504653 crossref_primary_10_1080_00207179_2013_770170 crossref_primary_10_1109_TCSII_2022_3207278 crossref_primary_10_1016_j_conengprac_2016_08_018 crossref_primary_10_1109_TIE_2014_2360077 crossref_primary_10_3390_robotics7030041 crossref_primary_10_1016_j_ifacol_2017_08_1525 crossref_primary_10_1016_j_ifacol_2019_10_064 crossref_primary_10_1016_j_ejcon_2023_100900 crossref_primary_10_1177_0278364916675419 crossref_primary_10_1007_s11431_021_1836_7 crossref_primary_10_1109_LRA_2023_3312032 crossref_primary_10_1016_j_ifacol_2023_10_1445 crossref_primary_10_1017_S0263574715000247 crossref_primary_10_1017_S0263574725000323 crossref_primary_10_1109_ACCESS_2020_2992640 crossref_primary_10_2514_1_G004590 crossref_primary_10_1016_j_ifacol_2025_08_031 crossref_primary_10_20965_ijat_2021_p0621 crossref_primary_10_1016_j_mechatronics_2016_05_004 crossref_primary_10_1109_TRO_2018_2819195 crossref_primary_10_1016_j_robot_2025_105051 crossref_primary_10_1155_2014_835098 crossref_primary_10_1109_TAC_2024_3390851 crossref_primary_10_1109_TCST_2025_3529356 crossref_primary_10_1109_TRO_2019_2920090
Cites_doi	10.1007/978-3-540-36119-0_4 10.1109/TAC.1986.1104317 10.1007/BF02191987 10.1080/02331939508844154 10.1080/01630569708816755 10.1115/1.2896505 10.1109/ROBOT.1993.291873 10.1177/027836498500400301 10.1023/B:COAP.0000033964.95511.23 10.1016/S0024-3795(98)10032-0 10.1109/ROBOT.1986.1087500 10.2514/3.11428 10.1109/IROS.2006.282623 10.1007/BF02071065 10.1109/70.105387 10.1002/(SICI)1097-4563(200005)17:5<233::AID-ROB1>3.0.CO;2-Y 10.1109/70.88024 10.1115/1.3143842 10.1017/CBO9780511804441 10.1109/ROBOT.1989.100107 10.1109/ROBOT.1994.350931 10.1109/TAC.1983.1103181 10.1109/TAC.1985.1104009 10.1109/JRA.1987.1087090 10.1109/70.313107 10.1080/10556789908805766 10.1177/027836498900800601 10.1137/1.9781611971453 10.1016/0098-1354(84)87012-X
ContentType	Journal Article
Copyright	2009 INIST-CNRS Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2009
Copyright_xml	– notice: 2009 INIST-CNRS – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2009
DBID	97E RIA RIE AAYXX CITATION IQODW 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D F28
DOI	10.1109/TAC.2009.2028959
DatabaseName	IEEE All-Society Periodicals Package (ASPP) 2005–Present IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Electronic Library (IEL) CrossRef Pascal-Francis Computer and Information Systems Abstracts Electronics & Communications Abstracts Mechanical & Transportation Engineering Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional ANTE: Abstracts in New Technology & Engineering
DatabaseTitle	CrossRef Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional ANTE: Abstracts in New Technology & Engineering
DatabaseTitleList	Technology Research Database
Database_xml	– sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher
DeliveryMethod	fulltext_linktorsrc
Discipline	Engineering Applied Sciences
EISSN	1558-2523
EndPage	2327
ExternalDocumentID	2316762321 22006994 10_1109_TAC_2009_2028959 5256286
Genre	orig-research
GroupedDBID	-~X .DC 0R~ 29I 3EH 4.4 5GY 5VS 6IK 97E AAJGR AARMG AASAJ AAWTH ABAZT ABQJQ ABVLG ACGFO ACGFS ACIWK ACNCT AENEX AETIX AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD F5P HZ~ H~9 IAAWW IBMZZ ICLAB IDIHD IFIPE IFJZH IPLJI JAVBF LAI M43 MS~ O9- OCL P2P RIA RIE RNS TAE TN5 VH1 VJK ~02 AAYXX CITATION IQODW RIG 7SC 7SP 7TB 8FD FR3 JQ2 L7M L~C L~D F28
ID	FETCH-LOGICAL-c418t-e9764fa20066b4093614df00fcdb4f3b3f7d544d5cda4a4f2adb848a9962339b3
IEDL.DBID	RIE
ISICitedReferencesCount	413
ISICitedReferencesURI	http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000270950200004&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
ISSN	0018-9286
IngestDate	Wed Oct 01 13:01:37 EDT 2025 Mon Jun 30 10:11:44 EDT 2025 Mon Jul 21 09:12:48 EDT 2025 Sat Nov 29 02:25:53 EST 2025 Tue Nov 18 20:48:52 EST 2025 Wed Aug 27 02:48:42 EDT 2025
IsPeerReviewed	true
IsScholarly	true
Issue	10
Keywords	Minimum time Optimal control Optimal trajectory Optimal path Convexity Optimal planning Second-order cone program (SOCP)-based solution method Motion control Convex programming Variable transformation Robotics
Language	English
License	https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html CC BY 4.0
LinkModel	DirectLink
MergedId	FETCHMERGED-LOGICAL-c418t-e9764fa20066b4093614df00fcdb4f3b3f7d544d5cda4a4f2adb848a9962339b3
Notes	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 14 content type line 23
PQID	861318026
PQPubID	85475
PageCount	10
ParticipantIDs	proquest_miscellaneous_875027949 pascalfrancis_primary_22006994 ieee_primary_5256286 crossref_citationtrail_10_1109_TAC_2009_2028959 crossref_primary_10_1109_TAC_2009_2028959 proquest_journals_861318026
PublicationCentury	2000
PublicationDate	2009-10-01
PublicationDateYYYYMMDD	2009-10-01
PublicationDate_xml	– month: 10 year: 2009 text: 2009-10-01 day: 01
PublicationDecade	2000
PublicationPlace	New York, NY
PublicationPlace_xml	– name: New York, NY – name: New York
PublicationTitle	IEEE transactions on automatic control
PublicationTitleAbbrev	TAC
PublicationYear	2009
Publisher	IEEE Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher_xml	– name: IEEE – name: Institute of Electrical and Electronics Engineers – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
References	ref13 ref34 ref12 ref15 ref14 ref31 lfberg (ref35) 2001 ref33 ref11 ref32 ref10 ref2 ref1 ref17 ref38 ref16 ref19 ref18 ref24 verscheure (ref36) 2008 ref23 ref25 ref20 schulz (ref4) 1996 ref22 ref21 betts (ref27) 2001 choset (ref5) 2005 bock (ref30) 1984 ref29 ref8 ref7 ref9 meeussen (ref37) 2006 ref3 ref6 sciavicco (ref28) 1996 stryk (ref26) 1993; 129
References_xml	– ident: ref6 doi: 10.1007/978-3-540-36119-0_4 – ident: ref11 doi: 10.1109/TAC.1986.1104317 – ident: ref3 doi: 10.1007/BF02191987 – year: 2005 ident: ref5 publication-title: Principles of Robot Motion Theory Algorithms and Implementation – ident: ref21 doi: 10.1080/02331939508844154 – year: 2006 ident: ref37 publication-title: Compliant robot motion From path planning or human demonstration to force controlled task execution – ident: ref22 doi: 10.1080/01630569708816755 – ident: ref16 doi: 10.1115/1.2896505 – ident: ref17 doi: 10.1109/ROBOT.1993.291873 – start-page: 243 year: 1984 ident: ref30 article-title: a multiple shooting algorithm for direct solution of optimal control problems publication-title: Proc 9th IFAC World Congress – ident: ref10 doi: 10.1177/027836498500400301 – year: 2001 ident: ref27 publication-title: Practical Methods for Optimal Control Using Nonlinear Programming – ident: ref33 doi: 10.1023/B:COAP.0000033964.95511.23 – ident: ref34 doi: 10.1016/S0024-3795(98)10032-0 – ident: ref12 doi: 10.1109/ROBOT.1986.1087500 – ident: ref18 doi: 10.2514/3.11428 – year: 1996 ident: ref28 publication-title: Modeling and Control of Robot Manipulators – volume: 129 year: 1993 ident: ref26 publication-title: Optimal Control Calculus of Variations Optimal Control Theory and Numerical Methods – ident: ref38 doi: 10.1109/IROS.2006.282623 – ident: ref2 doi: 10.1007/BF02071065 – ident: ref9 doi: 10.1109/70.105387 – ident: ref23 doi: 10.1002/(SICI)1097-4563(200005)17:5<233::AID-ROB1>3.0.CO;2-Y – ident: ref14 doi: 10.1109/70.88024 – ident: ref24 doi: 10.1115/1.3143842 – ident: ref29 doi: 10.1017/CBO9780511804441 – ident: ref15 doi: 10.1109/ROBOT.1989.100107 – ident: ref19 doi: 10.1109/ROBOT.1994.350931 – year: 2008 ident: ref36 publication-title: Time-Optimal Path Tracking for Robots A Convex Optimization Approach – year: 1996 ident: ref4 publication-title: Reduced SQP methods for large-scale optimal control problems in DAE with application to path planning problems for satellite mounted robots – ident: ref1 doi: 10.1109/TAC.1983.1103181 – ident: ref7 doi: 10.1109/TAC.1985.1104009 – ident: ref13 doi: 10.1109/JRA.1987.1087090 – ident: ref20 doi: 10.1109/70.313107 – ident: ref31 doi: 10.1080/10556789908805766 – ident: ref8 doi: 10.1177/027836498900800601 – year: 2001 ident: ref35 publication-title: YALMIP Yet Another LMI Parser – ident: ref32 doi: 10.1137/1.9781611971453 – ident: ref25 doi: 10.1016/0098-1354(84)87012-X
SSID	ssj0016441
Score	2.495924
Snippet	This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the...
SourceID	proquest pascalfrancis crossref ieee
SourceType	Aggregation Database Index Database Enrichment Source Publisher
StartPage	2318
SubjectTerms	Actuators Applied sciences Automatic control Computer science; control theory; systems Control system synthesis Control theory. Systems Exact sciences and technology Manipulator dynamics Mathematical analysis Mathematical models Motion planning Nonlinearity Numerical analysis Optimal control Optimization Orbital robotics Path planning Path tracking Robot kinematics Robotics Robots Robustness Second-order cone program (SOCP)-based solution method State-space methods Tracking
Title	Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
URI	https://ieeexplore.ieee.org/document/5256286 https://www.proquest.com/docview/861318026 https://www.proquest.com/docview/875027949
Volume	54
WOSCitedRecordID	wos000270950200004&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D
hasFullText	1
inHoldings	1
isFullTextHit
isPrint
journalDatabaseRights	– providerCode: PRVIEE databaseName: IEEE Electronic Library (IEL) customDbUrl: eissn: 1558-2523 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0016441 issn: 0018-9286 databaseCode: RIE dateStart: 19630101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE
link	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlR3LSsNAcGiLBz34qmKtlj14EYxNs5tm11spLR6kFqnQW0j2AYIm0of4-c5u0lBRBG8LO5vHzO48dl4AV1SkkeZceT0ZKI_1OfNE346oNownqNErV8T1IZpM-HwupjW4qXJhtNYu-Ezf2qHz5atcru1VWTdE-Rzwfh3qUdQvcrUqj4GV6wXXxQOMQBuXpC-6s8GwKEwZWLearUq6JYJcTxUbEZksESmm6GbxgzE7aTM--N93HsJ-qVWSQbENjqCms2PY26o12ISRTfbwHpFDvCHkFBU_gnJK2ptygoorecrTfLW8IwMytIHon8SBllmaZFCWHj-B5_FoNrz3yh4KnmQ9vvI0qhvMJM7FkqItR1EcK-P7RqqUGZpSE6mQMRVKlbCEmSBRKUcioRkUUCQkPYVGlmf6DIhUGp_BNaPMsJCmKQu1CdC49qVPlREt6G7QGsuywLjtc_EaO0PDFzESwra9FHFJiBZcVyvei-Iaf8A2LaIruBLHLeh8o1w1H9hfFoK1oL0hZVwez2XMUYmxpe9wOalm8VxZZ0mS6XyNIKhKBcisxPnvL27DrnMsubi-C2isFmt9CTvyY_WyXHTc3vwCstXgHw
linkProvider	IEEE
linkToHtml	http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlR3ZSgMxcPAC9cFbrGcefBFcu27SNvGtFEWxVpEKvi27OUDQrthW_HxnsumiKIJvgUz2mEnmyFwAh1zlLSuliU51YiLRlCJSTRpx64TMUKM3vohrt9XrycdHdTcFx1UujLXWB5_ZExp6X74p9JiuyuoNlM-JbE7DLHXOCtlalc-AJHvJd_EII9jEKRmrer_dKUtTJuRYo7qkX4SQ76pCMZHZENHiyn4WP1izlzcXy__70hVYCnola5cbYRWm7GANFr9UG1yHc0r3iG6RR7wg5B2qfgwllaa7coaqK7sv8mI0PGNt1qFQ9A_mQUOeJmuH4uMb8HBx3u9cRqGLQqTFqRxFFhUO4TLvZMnRmuMokI2LY6dNLhzPuWsZRKdpaJOJTLgkM7lEMqEhlHAkJd-EmUExsFvAtLH4DGkFF040eJ6LhnUJmtexjrlxqgb1CVpTHUqMU6eL59SbGrFKkRDU-FKlgRA1OKpWvJblNf6AXSdEV3ABxzXY_0a5aj6hX1ZK1GBnQso0HNBhKlGNoeJ3uJxVs3iyyF2SDWwxRhBUphJkV2r79xcfwPxl_6abdq961zuw4N1MPspvF2ZGb2O7B3P6ffQ0fNv3-_QThqLjaA
openUrl	ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Time-Optimal+Path+Tracking+for+Robots%3A+A+Convex+Optimization+Approach&rft.jtitle=IEEE+transactions+on+automatic+control&rft.au=Verscheure%2C+D.&rft.au=Demeulenaere%2C+B.&rft.au=Swevers%2C+J.&rft.au=De+Schutter%2C+J.&rft.date=2009-10-01&rft.issn=0018-9286&rft.eissn=1558-2523&rft.volume=54&rft.issue=10&rft.spage=2318&rft.epage=2327&rft_id=info:doi/10.1109%2FTAC.2009.2028959&rft.externalDBID=n%2Fa&rft.externalDocID=10_1109_TAC_2009_2028959
thumbnail_l	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0018-9286&client=summon
thumbnail_m	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0018-9286&client=summon
thumbnail_s	http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0018-9286&client=summon