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2013 Parametric Approach to Trajectory Tracking Control of Robot Manipulators
Shijie Zhang, Yi Ning
J. Appl. Math. 2013(SI16): 1-6 (2013). DOI: 10.1155/2013/958597


The mathematic description of the trajectory of robot manipulators with the optimal trajectory tracking problem is formulated as an optimal control problem, and a parametric approach is proposed for the optimal trajectory tracking control problem. The optimal control problem is first solved as an open loop optimal control problem by using a time scaling transform and the control parameterization method. Then, by virtue of the relationship between the optimal open loop control and the optimal closed loop control along the optimal trajectory, a practical method is presented to calculate an approximate optimal feedback gain matrix, without having to solve an optimal control problem involving the complex Riccati-like matrix differential equation coupled with the original system dynamics. Simulation results of 2-link robot manipulator are presented to show the effectiveness of the proposed method.


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Shijie Zhang. Yi Ning. "Parametric Approach to Trajectory Tracking Control of Robot Manipulators." J. Appl. Math. 2013 (SI16) 1 - 6, 2013.


Published: 2013
First available in Project Euclid: 14 March 2014

zbMATH: 06950958
MathSciNet: MR3122123
Digital Object Identifier: 10.1155/2013/958597

Rights: Copyright © 2013 Hindawi


Vol.2013 • No. SI16 • 2013
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