Stable optimal control applied to a cylindrical robotic arm

被引：21
作者：
Torres, Cesar [1 ]
de Jesus Rubio, Jose [2 ]
Aguilar-Ibanez, Carlos F. [1 ]
Perez-Cruz, J. Humberto [2 ,3 ]
机构：
[1] Inst Politecn Nacl, CIC, Lab Robot & Mecatron, Mexico City 07738, DF, Mexico
[2] Inst Politecn Nacl, ESIME Azcapotzalco, Secc Estudios Posgrad & Invest, Mexico City 02250, DF, Mexico
[3] Univ Guadalajara, Ctr Univ Ciencias Exactas & Ingn, Guadalajara 44430, JAL, Mexico
来源：
NEURAL COMPUTING & APPLICATIONS | 2014年 / 24卷 / 3-4期
关键词：
Optimal control; Cylindrical robotic arm; Stability; DISCRETE;
D O I：
10.1007/s00521-012-1294-6
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, an asymptotically stable optimal control is proposed for the trajectory tracking of a cylindrical robotic arm. The proposed controller uses the linear quadratic regulator method and its Riccati equation is considered as an adaptive function. The tracking error of the proposed controller is guaranteed to be asymptotically stable. A simulation shows the effectiveness of the proposed algorithm.
引用
收藏
页码：937 / 944
页数：8
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