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Optimal trajectory planning for nonlinear systems: robust and constrained solution

Published online by Cambridge University Press:  15 August 2014

P. Boscariol  and
A. Gasparetto
P. Boscariol*
Affiliation:
Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica University of Udine, Italy Via delle Scienze 208, 33100 Udine
A. Gasparetto
Affiliation:
Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica University of Udine, Italy Via delle Scienze 208, 33100 Udine
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a solution to the problem of generating constrained robust trajectory planning for nonlinear mechatronic systems. By using an indirect variational solution method, the necessary optimality conditions deriving from the Pontryagin's minimum principle are imposed, and lead to a differential Two-Point Boundary Value Problem (TPBVP); numerical solution of the latter is accomplished by means of collocation techniques. The robustness to parametric mismatches is obtained trough the use of sensitivity functions, while a hard constraint on actuator effort is obtained using a smoothing technique. Numerical results shows that the robustness can be greatly improved, and that the inclusion of constraints on actuator effort does not affect it.

Keywords

Motion PlanningRobustnessRobot DynamicsMechatronic SystemsPath Planning
Type
Articles
Information
Robotica , Volume 34 , Issue 6 , June 2016 , pp. 1243 - 1259
Copyright
Copyright © Cambridge University Press 2014 

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