Terminal controllers for robots: Shooting and optimal control

By using terminal controllers we can fuse in a single scheme the joint interpolator and servomechanism which are normally used in robot control systems. In this paper two simple and robust linear control laws are studied: (1) The geometric-style shooting technique and (2) The optimal control, which is calculated without using the classic dynamic programming-Ricatti equation approach. Finally, a technique for linear law modification such that the effect of additive perturbations are rejected as much as possible is introduced.