Title :
Optimal control of 2-input chained systems using higher-order method
Author :
Faiz, Nadeem ; Agrawal, Sunil K.
Author_Institution :
Dept. of Mech. Eng., Delaware Univ., Newark, DE, USA
Abstract :
In this paper, an optimal motion planning scheme for a class of nonlinear systems, called chained systems, is developed. A higher-order method developed by the authors is used to construct the trajectories of the system
Keywords :
control system analysis; motion control; nonlinear systems; optimal control; 2-input chained systems; higher-order method; motion planning; nonlinear systems; optimal control; trajectory control; Boundary conditions; Calculus; Constraint optimization; Cost function; Embedded computing; Equations; Mechanical engineering; Nonlinear systems; Optimal control; Symmetric matrices;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.694612
