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Optimal control of robots under stochastic uncertainty: robust feedback control
Author(s) -
Schacher Michael
Publication year - 2007
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200700037
Subject(s) - control theory (sociology) , optimal control , trajectory , feedback control , computer science , control (management) , robust control , stochastic control , robot , control engineering , mathematical optimization , control system , mathematics , engineering , artificial intelligence , physics , electrical engineering , astronomy
The most important aspect in the optimal control and design of manipulators is the determination of the basic movement, i.e. the calculation of the optimal trajectory on which the robot has to move. Having an optimal reference trajectory and an optimal open‐loop control, there is the need of control corrections by applying a certain feedback control. Different attempts exist for this. In this article a method will be shown which is based on classical control theory, that works with cost functions being minimized. The aim is to take into account stochastic parameter variations in order to obtain robust optimal feedback controls. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)