Title :
On the solution of the motion control problem as a finite-horizon optimal control problem
Author :
De Abreu-Garcia, Jose A. ; Cabrera-Arévalo, Luis A. ; Madaras, Jon M.
Author_Institution :
Dept. of Electr. Eng., Akron Univ., OH, USA
Abstract :
In this paper the motion control problem is posed as a finite-horizon optimal control problem. Then, a relaxation-based technique is implemented to solve the finite-horizon optimal control problem for real-time control applications. The proposed technique is reliable, handles singularities well, and allows for fast computation and minimum solution error
Keywords :
boundary-value problems; motion control; optimal control; boundary value problems; fast computation; finite-horizon optimal control; minimum solution error; motion control; real-time control; relaxation-based technique; trajectory planning; Acceleration; Constraint theory; Electronic equipment; Industrial control; Motion control; Optimal control; Performance analysis; Rubber products; Tires; Trajectory;
Conference_Titel :
Power Electronics and Motion Control Conference, 2000. Proceedings. IPEMC 2000. The Third International
Conference_Location :
Beijing
Print_ISBN :
7-80003-464-X
DOI :
10.1109/IPEMC.2000.883032
