DocumentCode
848115
Title
Optimal control of systems with hard control bounds
Author
Weinreb, A. ; Bryson, A.E.
Author_Institution
Stanford University, Stanford, CA, USA
Volume
30
Issue
11
fYear
1985
fDate
11/1/1985 12:00:00 AM
Firstpage
1135
Lastpage
1138
Abstract
The numerical solution of the optimal control and trajectory of systems with hard control bounds is considered. A new algorithm, which extends the gradient method [1] to systems with hard control bounds is presented. The algorithm is based on the use of an adjustable control-variation weight (ACW) matrix to enforce the bounds. The application of the algorithm to the minimum-time control of a two-link robot arm is presented as an example.
Keywords
Gradient methods; Manipulators; Optimal control, nonlinear systems; Time-optimal control, nonlinear systems; Automatic control; Control system analysis; Control systems; Gradient methods; History; Iterative algorithms; Optimal control; Robots; Switches; Weight control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.1985.1103857
Filename
1103857
Link To Document