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Neural Computing and Applications

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01.03.2014 | Original Article

Stable optimal control applied to a cylindrical robotic arm

verfasst von: César Torres, José de Jesús Rubio, Carlos F. Aguilar-Ibáñez, J. Humberto Pérez-Cruz

Erschienen in: Neural Computing and Applications | Ausgabe 3-4/2014

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Abstract

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.

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Titel: Stable optimal control applied to a cylindrical robotic arm
verfasst von: César Torres
José de Jesús Rubio
Carlos F. Aguilar-Ibáñez
J. Humberto Pérez-Cruz
Publikationsdatum: 01.03.2014
Verlag: Springer London
Erschienen in: Neural Computing and Applications / Ausgabe 3-4/2014
Print ISSN: 0941-0643
Elektronische ISSN: 1433-3058
DOI: https://doi.org/10.1007/s00521-012-1294-6

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