Relaxing Nonholonomic Constraints to Eliminate Chattering From Time-Optimal Control Solutions
Salah Bazzi, Elie Shammas, Daniel Asmar · IEEE Robotics and Automation Letters · 2017
This letter presents a new approach to tackle the problem of infinite chattering, observed at bang-singular junctions of the minimum-time trajectories of car-like robots with bounded angular acceleration control. To eliminate chattering from time-optimal control solutions, we propose to relax the ideal nonholonomic constraint of no-skidding. A proof is presented to demonstrate that this relaxation eliminates chattering from the bang-singular junctions. Finally, a solution to the time-optimal synthesis under the condition of small skid angles is provided.