QUADRATIC OPTIMIZATION OF MOTION COORDINATION AND CONTROL

被引：89

作者：

JOHANSSON, R

机构：

[1] Department of Automatic Control, Lund Institute of Technology, Lund, Box 118

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1990年 / 35卷 / 11期

关键词：

D O I：

10.1109/9.59805

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton -Jacobi equation for optimal control of rigid body motion are found by solving an algebraic matrix equation. The system stability is investigated according to Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution results in natural design parameters in the form of square weighting matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control, trajectory planning, and motion analysis. © 1990 IEEE

引用

页码：1197 / 1208

页数：12

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