Title :
Quadratic optimization of motion coordination and control
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
Abstract :
Algorithms are presented for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. The system stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution results in natural design parameters in the form of square weighting matrices as known from linear quadratic optimal control. The proposed optimal control is useful for motion control, trajectory planning, and motion analysis
Keywords :
Lyapunov methods; matrix algebra; optimal control; optimisation; position control; robots; stability; Hamilton-Jacobi equation; Lyapunov function; adaptive control; algebraic matrix equation; continuous-time quadratic optimization; motion analysis; motion control; motion coordination; optimal control; rigid-body motion; square weighting matrices; stability; trajectory planning; Adaptive control; Asymptotic stability; Equations; Lyapunov method; Matrices; Motion analysis; Motion control; Optimal control; Trajectory; Uncertain systems;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126161
