DocumentCode :
3019427
Title :
Optimal control approximations for trainable manipulators
Author :
Saridis, G.N. ; Lee, C. S. George
Author_Institution :
Purdue University, West Lafayette, Indiana
fYear :
1977
fDate :
7-9 Dec. 1977
Firstpage :
749
Lastpage :
754
Abstract :
A theoretical procedure is developed for testing the quality of the approximation from the optimal solution of a nonlinear optimal control problem. It is based on the monotonicity between the changes of the Hamiltonian and the value functions proposed by Rekasius, and may provide a procedure for selecting effective controls for non-linear systems. The approach has been applied to the approximately optimal control of a trainable manipulator with seven degrees of freedom, where the controller is used for motion coordination and optimal execution of object-handling tasks.
Keywords :
Feedback; Kalman filters; Nonlinear equations; Optimal control; Optimized production technology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control including the 16th Symposium on Adaptive Processes and A Special Symposium on Fuzzy Set Theory and Applications, 1977 IEEE Conference on
Conference_Location :
New Orleans, LA, USA
Type :
conf
DOI :
10.1109/CDC.1977.271669
Filename :
4045939
Link To Document :
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