Title :
Quadratic optimization of motion coordination and control
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
fDate :
11/1/1990 12:00:00 AM
Abstract :
Algorithms for continuous-time quadratic optimization of motion control are presented. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. The system stability is investigated according to Lyapunov function theory and it is shown that global asymptotic stability holds. How optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters is shown. The solution results in natural design parameters in the form of square weighting matrices, as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control, trajectory planning, and motion analysis
Keywords :
Lyapunov methods; matrix algebra; optimal control; optimisation; position control; stability; Hamilton-Jacobi equation; Lyapunov function; algebraic matrix equation; motion control; motion coordination; optimal control; quadratic optimization; square weighting matrices; stability; trajectory planning; Adaptive control; Asymptotic stability; Equations; Lyapunov method; Matrices; Motion analysis; Motion control; Optimal control; Trajectory; Uncertain systems;
Journal_Title :
Automatic Control, IEEE Transactions on
