Quadratic optimization of motion coordination and control

Author

Johansson, Rolf

Author_Institution

Dept. of Autom. Control, Lund Inst. of Technol., Sweden

Volume

35

Issue

11

fYear

1990

fDate

11/1/1990 12:00:00 AM

Firstpage

1197

Lastpage

1208

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;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.59805

Filename

59805