DocumentCode
486422
Title
Optimal Control of Systems with Hard Control Bounds
Author
Weinreb, A. ; Bryson, A.E.
Author_Institution
Stanford University, Stanford, Ca. 94305
fYear
1985
fDate
19-21 June 1985
Firstpage
1248
Lastpage
1252
Abstract
The numerical solution of the optimal control and trajectory of systems with hard control bounds is considered. A new algorithm, which extends the gradient method [1] to systems with hard control bounds is presented. The algorithm is based on the use of an Adjustable Control-variation Weight (ACW) matrix to enforce the bounds. The application of the algorithm to the minimum-time control of a two-link robot arm is presented as an example.
Keywords
Control system analysis; Control systems; Cost function; Gradient methods; History; Iterative algorithms; Optimal control; Robots; Switches; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1985
Conference_Location
Boston, MA, USA
Type
conf
Filename
4788811
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