Parametric approach to trajectory tracking control of robot manipulators
type: Item
instance of: scholarly article
title: Parametric approach to trajectory tracking control of robot manipulators
zbMATH Open document ID: 1397.93149
DOI: 10.1155/2013/958597
author: Shijie Zhang
author: Yi Ning
published in: Journal of Applied Mathematics
publication date: 2018-10-10T00:00:00Z
review text: Summary: The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6950958
Wikidata QID: Q59007152
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2013/958597
OpenAlex ID: W2150294588
DBLP publication ID: journals/jam/ZhangN13
description: scientific article; zbMATH DE number 6950958