DocumentCode :
2889863
Title :
Control of path constrained systems using feasible equilibrium paths; a robotics application
Author :
Sultan, C.
Author_Institution :
Virginia Polytech. Inst. & State Univ., Blacksburg, VA
fYear :
2008
fDate :
3-5 Sept. 2008
Firstpage :
1214
Lastpage :
1219
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;
fLanguage :
English
Publisher :
ieee
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
Type :
conf
DOI :
10.1109/CCA.2008.4629571
Filename :
4629571
Link To Document :
بازگشت