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A small parameter method to improve optimum control via the linearization technique

Published online by Cambridge University Press:  09 March 2009

Guy Jumarie
Guy Jumarie
Affiliation:
Department of Mathematics and Computer Sciences, Université du Québec à Montréal, P.O. Box 8888, st A, Montreal, Quebec H3C 3P8 Canada
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Summary

A method that has been proposed for the design of a control system of a muti-link arm is the optimum approach applied to the system linearized around its nominal trajectory, i.e. the dynamic trajectory that the manipulator should follow. This method works, in as much as the initial deviation from the reference trajectory is small enough. When such is not the case, it is necessary to take into account the quadratic term in the approximation, and the paper proposes a small parameter technique to solve the corresponding optimum control problem which otherwise involves cumbersome calculations.

Type
Article
Information
Robotica , Volume 3 , Issue 2 , April 1985 , pp. 85 - 88
Copyright
Copyright © Cambridge University Press 1985

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References

Vukobratovic, M. and Stokic, D., Scientific Fundamentals of Robotics 1 and 2. (Springer Verlag, Berlin, 1982).Google Scholar