An optimal controller for a nonlinear robotic-system

Author

Yadav, Pradeep K. ; Kakad, Y.P.

Author_Institution

Dept. of Electr. Eng., North Carolina Univ., Charlotte, NC, USA

fYear

1993

fDate

4-7 Apr 1993

Firstpage

0.708333333333333

Abstract

A method of designing an optimal controller for a two-link robot is developed. Robot motion is constrained and is given in terms of nonlinear dynamical equations. Each robot link is subjected to motion from an initial angular displacement and velocity to a set of final angular displacement and velocity, during which a preselected quadratic performance index of the robot is optimized. The proposed dynamic modeling method and closed-loop control algorithm for decentralized control are applied to an example two-link robot

Keywords

closed loop systems; controllers; decentralised control; industrial robots; nonlinear control systems; optimal control; robot dynamics; angular displacement; closed-loop control algorithm; decentralized control; dynamic modeling method; industrial robot; nonlinear dynamical equations; nonlinear robotic-system; optimal controller; quadratic performance index; robot motion; two-link robot; velocity; Control systems; End effectors; Lagrangian functions; Manipulator dynamics; Motion control; Nonlinear equations; Optimal control; Performance analysis; Robot kinematics; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Southeastcon '93, Proceedings., IEEE

Conference_Location

Charlotte, NC

Print_ISBN

0-7803-1257-0

Type

conf

DOI

10.1109/SECON.1993.465700

Filename

465700