Open AccessSolving an optimal control problem of the robot using the Picard’s method.
Author(s) -
Abbes Lounis,
Kahina Louadj,
Azah Mohamed
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1730/1/012015
Subject(s) - pontryagin's minimum principle , optimal control , robot , state (computer science) , mathematics , shooting method , control (management) , mathematical optimization , maximum principle , control theory (sociology) , computer science , artificial intelligence , algorithm , mathematical analysis , boundary value problem
This paper presents an optimal control problem applied to the robot, the problem is to determine a command that allows to reach the final state from the initial state in record time. This problem will be solved by applying The Pontryagin’s Maximum Principle (PMP) combined with Picard’s successive approximation method and shooting method.