DocumentCode
2889863
Title
Control of path constrained systems using feasible equilibrium paths; a robotics application
Author
Sultan, C.
Author_Institution
Virginia Polytech. Inst. & State Univ., Blacksburg, VA
fYear
2008
fDate
3-5 Sept. 2008
Firstpage
1214
Lastpage
1219
Abstract
A method to control the transition of path constrained nonlinear systems of ordinary differential equations (ODEs) between equilibrium states is presented. The main idea is to control the system such that its state space trajectory is close to an equilibrium path to which the initial and final states belong and which satisfies the constraints. Examples of a two link robotic manipulator control subject to collision avoidance constraints are included.
Keywords
collision avoidance; differential equations; manipulators; nonlinear control systems; ODE; collision avoidance; feasible equilibrium paths; ordinary differential equations; path constrained nonlinear systems; robotic manipulator; state space trajectory; Collision avoidance; Control systems; Manipulator dynamics; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Orbital robotics; Robots; State-space methods; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2008. CCA 2008. IEEE International Conference on
Conference_Location
San Antonio, TX
Print_ISBN
978-1-4244-2222-7
Electronic_ISBN
978-1-4244-2223-4
Type
conf
DOI
10.1109/CCA.2008.4629571
Filename
4629571
Link To Document