Minimum-time trajectory tracking of an underactuated system

Author

Driessen, Brian J. ; Sadegh, Nader

Author_Institution

Sandia Nat. Labs., Albuquerque, NM, USA

Volume

4

fYear

2000

fDate

2000

Firstpage

2834

Abstract

Minimum-time trajectory tracking of an underactuated mechanical system called the Acrobot is presented. The success of the controller is demonstrated by the fact that the tracking error is reduced by more than an order of magnitude when compared to the open-loop system response. The control law is obtained by linearizing the system about the nominal trajectory and applying differential dynamic programming to the resulting linear time-varying system, while using a weighted sum of the state-deviation and input-deviation as the cost function

Keywords

closed loop systems; dynamic programming; linear systems; manipulators; matrix algebra; optimal control; position control; time-varying systems; Acrobot; differential dynamic programming; input-deviation; linear time-varying system; minimum-time trajectory tracking; state-deviation; tracking error; underactuated mechanical system; Control systems; Cost function; Dynamic programming; Equations; Error correction; Nonlinear dynamical systems; Open loop systems; Performance analysis; Tracking loops; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2000. Proceedings of the 2000

Conference_Location

Chicago, IL

ISSN

0743-1619

Print_ISBN

0-7803-5519-9

Type

conf

DOI

10.1109/ACC.2000.878728

Filename

878728