Energy-optimal trajectory planning for the Pendubot and the Acrobot

DOI10.1002/oca.2020zbMath1270.93075OpenAlexW1521869277MaRDI QIDQ2847231

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Publication date: 4 September 2013

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2020

zbMATH Keywords

optimal controlnonholonomic constraintsPendubotEuler-Lagrange necessary conditionunderactuated manipulatorsAcrobottrajectory-planning problem

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (3)

Switching time-optimal control of spacecraft equipped with reaction wheels and gas jet thrusters ⋮ Embedded optimal control of robot manipulators with passive joints ⋮ A new methodology for solving trajectory planning and dynamic load-carrying capacity of a robot manipulator

Uses Software

• OTIS

Cites Work

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