TY - JOUR
T1 - Stable optimal control applied to a cylindrical robotic arm
AU - Torres, César
AU - de Jesús Rubio, José
AU - Aguilar-Ibáñez, Carlos F.
AU - Pérez-Cruz, J. Humberto
N1 - Funding Information:
The authors are grateful to the editors and the reviewers for their valuable comments and insightful suggestions, which helped to improve this research significantly. The authors thank the Secretaría de Investigación y Posgrado, Comisión de Operación y Fomento de Actividades Académicas del IPN, and Consejo Nacional de Ciencia y Tecnología for their help in this research. The fourth author would like to thank the financial support through a postdoctoral fellowship from Mexican National Council for Science and Technology (CONACYT).
PY - 2014/3
Y1 - 2014/3
N2 - 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.
AB - 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.
KW - Cylindrical robotic arm
KW - Optimal control
KW - Stability
UR - http://www.scopus.com/inward/record.url?scp=84894280951&partnerID=8YFLogxK
U2 - 10.1007/s00521-012-1294-6
DO - 10.1007/s00521-012-1294-6
M3 - Artículo
SN - 0941-0643
VL - 24
SP - 937
EP - 944
JO - Neural Computing and Applications
JF - Neural Computing and Applications
IS - 3-4
ER -