Quadratic optimization of motion coordination and control

Author

Johansson, Rolf

Author_Institution

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

fYear

1990

fDate

13-18 May 1990

Firstpage

1204

Abstract

Algorithms are presented for continuous-time quadratic optimization of motion control. 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. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. 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 for motion control, trajectory planning, and motion analysis

Keywords

Lyapunov methods; matrix algebra; optimal control; optimisation; position control; robots; stability; Hamilton-Jacobi equation; Lyapunov function; adaptive control; algebraic matrix equation; continuous-time quadratic optimization; motion analysis; motion control; motion coordination; optimal control; rigid-body motion; 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

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126161

Filename

126161