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Title:

Spline Deformation of Locally Optimal Trajectories: Feasibility and Upper Bound on Control Inputs

Document type:
Konferenzbeitrag
Author(s):
Pekarovskiy, Alexander; Nierhoff, Thomas; Hirche, Sandra; Buss, Martin
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...     »
Keywords:
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
Book / Congress title:
2015 54th IEEE Conference on Decision and Control (CDC)
Organization:
IEEE
Date of congress:
December 15-18, 2015
Year:
2015
Month:
Dec
Pages:
822-828
Language:
en
Fulltext / DOI:
doi:10.1109/CDC.2015.7402331
Semester:
WS 15-16
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