DocumentCode
772825
Title
Design of robotic discrete minimum energy regulator
Author
Bestaoui, Y.
Author_Institution
Lab. de Robotique et d´´Inf. Ind., Nantes, France
Volume
138
Issue
6
fYear
1991
fDate
11/1/1991 12:00:00 AM
Firstpage
509
Lastpage
514
Abstract
The optimal control of manipulators is a key to the success of automated manufacturing. The problem considered is an energy minimisation problem with given dynamics and is subject to actuator constraints. A differential dynamic programming algorithm is developed to solve the discrete-time optimal control problem. This method allows calculation of the joint reference trajectories and the design of a proportional derivative regulator. The characteristics of this new method are exposed and the simulation results shown
Keywords
control system synthesis; discrete time systems; dynamic programming; optimal control; robots; two-term control; PD control; design; differential dynamic programming; discrete minimum energy regulator; discrete time systems; dynamics; joint reference trajectories; manipulators; optimal control; proportional derivative regulator; robots;
fLanguage
English
Journal_Title
Control Theory and Applications, IEE Proceedings D
Publisher
iet
ISSN
0143-7054
Type
jour
Filename
101341
Link To Document