Minimum-Energy Control of Two-Link Manipulator withPure State Constraints
Abstract: This paper presents
an analysis and numerical solutions of the minimum-energy control of two-link
robot manipulator. The minimum-energy control point-to-point trajectory is
investigated subject to control constraints and state constraints on the
angular velocities. The numerical solutions are solved by transforming the
original problem into a nonlinear programming problem. The mathematical
analysis of the optimal control problems is done based on the numerical results
using an indirect method. The necessary conditions can be stated as a
multi-point boundary value problems.
Keywords: optimal control;
minimum-energy control; direct method; indirect method; robot manipulator
Penulis: Subchan
Kode Jurnal: jpmatematikadd050001
