Title :
Control of path constrained systems using feasible equilibrium paths; a robotics application
Author_Institution :
Virginia Polytech. Inst. & State Univ., Blacksburg, VA
Abstract :
A method to control the transition of path constrained nonlinear systems of ordinary differential equations (ODEs) between equilibrium states is presented. The main idea is to control the system such that its state space trajectory is close to an equilibrium path to which the initial and final states belong and which satisfies the constraints. Examples of a two link robotic manipulator control subject to collision avoidance constraints are included.
Keywords :
collision avoidance; differential equations; manipulators; nonlinear control systems; ODE; collision avoidance; feasible equilibrium paths; ordinary differential equations; path constrained nonlinear systems; robotic manipulator; state space trajectory; Collision avoidance; Control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Orbital robotics; Robots; State-space methods; Trajectory;
Conference_Titel :
Control Applications, 2008. CCA 2008. IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
978-1-4244-2222-7
Electronic_ISBN :
978-1-4244-2223-4
DOI :
10.1109/CCA.2008.4629571
