Optimal control of uncertain nonlinear systems: An application to a two-link robotic arm
This paper presents an adaptive optimal control algorithm for uncertain nonlinear systems. A variational technique based on Pontryagin's Maximum Principle is used to track the system's unknown terms, and to calculate the optimal control. The reformation of the variational technique as an initial value problem allows this microprocessor-based algorithm to perform as a closed-loop controller by updating the model and controlling the system on-line. To validate the algorithm a system representing a two-link mechanical manipulator is simulated. In the control model, the coupling and friction terms are unknown. The robot's task is to follow a prescribed trajectory and to pick up an unknown mass. 3 refs., 1 fig.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 7060214
- Report Number(s):
- CONF-881208-3; ON: TI89001490
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420200* -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
ALGORITHMS
COMPUTERIZED CONTROL SYSTEMS
COMPUTERS
CONTROL SYSTEMS
DESIGN
ELECTRONIC CIRCUITS
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MATHEMATICAL MODELS
MICROELECTRONIC CIRCUITS
MICROPROCESSORS
NONLINEAR PROBLEMS
OPTIMIZATION
REMOTE HANDLING EQUIPMENT
ROBOTS
TESTING
VARIATIONAL METHODS