Title :
An optimal robot tracking controller with application in the finite horizon case
Author_Institution :
Nat. Univ. of Sci. & Technol., Rawalpindi, Pakistan
Abstract :
A control law for a rigid robotic manipulator optimizing quadratic cost functional composed of sliding surface and its derivative for fixed final time and free final state was proposed by Z. Ahmad (1995; 2000). Closed form solutions for such a control law corresponding to constant in time and specific diagonal time-varying weighting matrices are presented. These closed form solutions for the two point boundary value problem greatly reduce computational load and allow for real time implementation. Simulation results for a two degree of freedom manipulator are also provided
Keywords :
boundary-value problems; manipulators; optimal control; real-time systems; target tracking; time-varying systems; variable structure systems; closed form solutions; computational load; control law; diagonal time-varying weighting matrices; finite horizon case; fixed final time; free final state; optimal robot tracking controller; quadratic cost functional optimization; real time implementation; rigid robotic manipulator; sliding surface; two degree of freedom manipulator; two point boundary value problem; Closed-form solution; Computer aided software engineering; Cost function; Manipulators; Optimal control; Riccati equations; Robot control; Symmetric matrices; Torque; Vectors;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886510
