Approach for path following optimal control of multibody systems
Approach for path following optimal control of multibody systems
An approach is proposed to the determination of approximate solutions of path following optimal control problems by exploiting modern global search and optimization techniques. An optimal path following algorithm for control of multibody systems is developed and a test example for minimum-time-energy control of a two-link manipulator is presented. Computer realization of the proposed method is mainly based on MATLAB simulation programs for function approximation, constrained optimization and genetic algorithms. The results of the method can be implemented to solve path following optimal control problems in the field of Computer Aided Control Engineering, Computer Integrated Manufacturing, Mechatronics and Robotics.
941-946
Dakev, N.V.
453178f2-0e1d-4fad-a2cd-d7158dd1196b
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Fleming, P.J.
427fe512-854e-43fa-a584-6ee8a50a9552
5 September 1996
Dakev, N.V.
453178f2-0e1d-4fad-a2cd-d7158dd1196b
Chipperfield, A.J.
524269cd-5f30-4356-92d4-891c14c09340
Fleming, P.J.
427fe512-854e-43fa-a584-6ee8a50a9552
Dakev, N.V., Chipperfield, A.J. and Fleming, P.J.
(1996)
Approach for path following optimal control of multibody systems.
In IEE Conference Publication.
.
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Conference or Workshop Item
(Paper)
Abstract
An approach is proposed to the determination of approximate solutions of path following optimal control problems by exploiting modern global search and optimization techniques. An optimal path following algorithm for control of multibody systems is developed and a test example for minimum-time-energy control of a two-link manipulator is presented. Computer realization of the proposed method is mainly based on MATLAB simulation programs for function approximation, constrained optimization and genetic algorithms. The results of the method can be implemented to solve path following optimal control problems in the field of Computer Aided Control Engineering, Computer Integrated Manufacturing, Mechatronics and Robotics.
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Published date: 5 September 1996
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Local EPrints ID: 470246
URI: http://eprints.soton.ac.uk/id/eprint/470246
PURE UUID: dfb2a326-8b4b-48e0-95f8-76d95db1c489
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Date deposited: 05 Oct 2022 16:34
Last modified: 23 Feb 2023 02:45
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Author:
N.V. Dakev
Author:
P.J. Fleming
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