Parametric Approach to Trajectory Tracking Control of Robot Manipulators
Joint Authors
Source
Journal of Applied Mathematics
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-31
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem.
The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method.
Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics.
Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.
American Psychological Association (APA)
Zhang, Shijie& Ning, Yi. 2013. Parametric Approach to Trajectory Tracking Control of Robot Manipulators. Journal of Applied Mathematics،Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-511455
Modern Language Association (MLA)
Zhang, Shijie& Ning, Yi. Parametric Approach to Trajectory Tracking Control of Robot Manipulators. Journal of Applied Mathematics No. 2013 (2013), pp.1-6.
https://search.emarefa.net/detail/BIM-511455
American Medical Association (AMA)
Zhang, Shijie& Ning, Yi. Parametric Approach to Trajectory Tracking Control of Robot Manipulators. Journal of Applied Mathematics. 2013. Vol. 2013, no. 2013, pp.1-6.
https://search.emarefa.net/detail/BIM-511455
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-511455