DocumentCode
2617451
Title
On the solution of the motion control problem as a finite-horizon optimal control problem
Author
De Abreu-Garcia, Jose A. ; Cabrera-Arévalo, Luis A. ; Madaras, Jon M.
Author_Institution
Dept. of Electr. Eng., Akron Univ., OH, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
1302
Abstract
In this paper the motion control problem is posed as a finite-horizon optimal control problem. Then, a relaxation-based technique is implemented to solve the finite-horizon optimal control problem for real-time control applications. The proposed technique is reliable, handles singularities well, and allows for fast computation and minimum solution error
Keywords
boundary-value problems; motion control; optimal control; boundary value problems; fast computation; finite-horizon optimal control; minimum solution error; motion control; real-time control; relaxation-based technique; trajectory planning; Acceleration; Constraint theory; Electronic equipment; Industrial control; Motion control; Optimal control; Performance analysis; Rubber products; Tires; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Power Electronics and Motion Control Conference, 2000. Proceedings. IPEMC 2000. The Third International
Conference_Location
Beijing
Print_ISBN
7-80003-464-X
Type
conf
DOI
10.1109/IPEMC.2000.883032
Filename
883032
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