DocumentCode :
2918156
Title :
DMOC approach of real-time trajectory generation for mechanical systems
Author :
Zhang, Weizhong ; Inanc, Tamer ; Marsden, Jerrold E.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Louisville, Louisville, KY
fYear :
2008
fDate :
17-20 Dec. 2008
Firstpage :
2192
Lastpage :
2195
Abstract :
Discrete mechanics and optimal control (DMOC) is newly developed methodology to solve the optimal control problems of mechanical systems. It is based on a direct discretization of the Lagrange-d´Alembert principle. The constraints are modeled as Euler-Langrange equations for discrete states. With the application of DMOC, a new real-time trajectory generation approach is proposed. The formulated problem is solved in the open source free nonlinear programming solver IPOPT (interior point optimizer). Superior performance of DMOC is verified through a standard forced VanDerPol oscillator example. It is shown DMOC is much faster than NTG (nonlinear trajectory generation) in computation time, it is 1.31% of the CPU time. Finally, for real-time trajectory generation, a dynamical glider example is shown as one of its possible application fields.
Keywords :
nonlinear programming; optimal control; robot dynamics; robot kinematics; DMOC approach; Euler-Langrange equations; IPOPT; Lagrange-d´Alembert principle; discrete mechanics and optimal control; dynamical glider; forced VanDerPol oscillator; interior point optimizer; mechanical systems; nonlinear trajectory generation; open source free nonlinear programming solver; real-time trajectory generation; robot; Automatic generation control; Control systems; Cost function; Equations; Lagrangian functions; Mechanical systems; Optimal control; Real time systems; Robot programming; Robotics and automation; DMOC; Discrete Mechanics; Nonlinear Trajectory Generation; Optimal Control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
Type :
conf
DOI :
10.1109/ICARCV.2008.4795871
Filename :
4795871
Link To Document :
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