Stable optimal control applied to a cylindrical robotic arm

Research output: Contribution to journalArticleResearchpeer-review

23 Citations (Scopus)

Abstract

In this paper, an asymptotically stable optimal control is proposed for the trajectory tracking of a cylindrical robotic arm. The proposed controller uses the linear quadratic regulator method and its Riccati equation is considered as an adaptive function. The tracking error of the proposed controller is guaranteed to be asymptotically stable. A simulation shows the effectiveness of the proposed algorithm. © 2012 Springer-Verlag London.
Original languageAmerican English
Pages (from-to)937-944
Number of pages842
JournalNeural Computing and Applications
DOIs
StatePublished - 1 Mar 2014

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Robotic arms
robotics
Controllers
Riccati equations
trajectory
Trajectories
simulation
method

Cite this

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title = "Stable optimal control applied to a cylindrical robotic arm",
abstract = "In this paper, an asymptotically stable optimal control is proposed for the trajectory tracking of a cylindrical robotic arm. The proposed controller uses the linear quadratic regulator method and its Riccati equation is considered as an adaptive function. The tracking error of the proposed controller is guaranteed to be asymptotically stable. A simulation shows the effectiveness of the proposed algorithm. {\circledC} 2012 Springer-Verlag London.",
author = "C{\'e}sar Torres and {de Jes{\'u}s Rubio}, Jos{\'e} and Aguilar-Ib{\'a}{\~n}ez, {Carlos F.} and P{\'e}rez-Cruz, {J. Humberto}",
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language = "American English",
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Stable optimal control applied to a cylindrical robotic arm. / Torres, César; de Jesús Rubio, José; Aguilar-Ibáñez, Carlos F.; Pérez-Cruz, J. Humberto.

In: Neural Computing and Applications, 01.03.2014, p. 937-944.

Research output: Contribution to journalArticleResearchpeer-review

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AU - Torres, César

AU - de Jesús Rubio, José

AU - Aguilar-Ibáñez, Carlos F.

AU - Pérez-Cruz, J. Humberto

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