Minimum-Energy Control of Two-Link Manipulator withPure State Constraints

Subchan Subchan

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

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References


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DOI: http://dx.doi.org/10.12962/j1829605X.v2i1.1360

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Limits: Journal Mathematics and its Aplications by Pusat Publikasi Ilmiah LPPM Institut Teknologi Sepuluh Nopember is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Based on a work at https://iptek.its.ac.id/index.php/limits.