DocumentCode
489941
Title
Minimum-Energy Feedback Control of Robots
Author
Lu, Ping
Author_Institution
Department of Aerospace Engineering and Engineering Mechanics, Iowa State University, Ames, IA 50011
fYear
1992
fDate
24-26 June 1992
Firstpage
2947
Lastpage
2951
Abstract
A new optimal nonlinear feedback control law is obtained for the minimum-energy control problem of robots. The result can lead to a better design of robust feedback control when the problem is solved by the nonlinear programming approach. Supporting numerical examples are presented.
Keywords
Boundary conditions; Feedback control; Manipulator dynamics; Nonlinear equations; Optimal control; Riccati equations; Robot control; Robot programming; Robot sensing systems; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1992
Conference_Location
Chicago, IL, USA
Print_ISBN
0-7803-0210-9
Type
conf
Filename
4792686
Link To Document