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Dokumenttyp:
Konferenzbeitrag 
Autor(en):
Pekarovskiy, A.; Nierhoff, T.; Hirche, S.; Buss, M. 
Titel:
Spline deformation of locally optimal trajectories: Feasibility and upper bound on control inputs 
Abstract:
Deformation of optimal trajectories has a great potential in various applications due to the ability of realtime recomputation of the overall trajectory when applying new boundary conditions. This paper presents a novel approach where optimal trajectories are created offline through numerical direct optimal control methods. Afterwards the trajectories are deformed online with a spline deformation approach, providing minimum acceleration deviation between optimal and deformed trajectories and cons...    »
 
Stichworte:
computational complexity; manipulators; numerical control; optimal control; splines (mathematics); boundary conditions; bounded disturbances; computational complexity; control inputs; controller tracking error; locally optimal trajectories spline deformation; manipulator; minimum acceleration deviation; numerical direct optimal control method; real-time recomputation; unmodeled dynamics; Acceleration; Optimal control; Robots; Splines (mathematics); Torque; Trajectory; Upper bound 
Kongress- / Buchtitel:
2015 54th IEEE Conference on Decision and Control (CDC) 
Ausrichter der Konferenz:
IEEE 
Konferenzort:
Osaka, Japan 
Datum der Konferenz:
December 15-18, 2015 
Jahr:
2015 
Monat:
Dec 
Seiten:
822-828 
Sprache:
en 
Semester:
WS 15-16