TR2012-079

On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach

    •  Wang, Y., Ueda, K., Bortoff, S.A., "On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC.2012.6426478, December 2012, pp. 7620-7625.
      BibTeX TR2012-079 PDF
      • @inproceedings{Wang2012dec,
      • author = {Wang, Y. and Ueda, K. and Bortoff, S.A.},
      • title = {On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach},
      • booktitle = {IEEE Conference on Decision and Control (CDC)},
      • year = 2012,
      • pages = {7620--7625},
      • month = dec,
      • doi = {10.1109/CDC.2012.6426478},
      • issn = {7434-1546},
      • isbn = {978-1-4673-2065-8},
      • url = {https://www.merl.com/publications/TR2012-079}
      • }
  • MERL Contacts:
  • Research Area:

    Control

Abstract:

This note considers the energy optimal trajectory control design approach. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. The minimum principle is applied to establish piecewise necessary optimality conditions. An approximate optimal control is proposed to circumvent the difficulty due to the nonlinearity of the cost function. Simulation is performed to illustrate the generation of the approximate optimal trajectory.

 

  • Related News & Events

    •  NEWS    CDC 2012: 3 publications by Yebin Wang, Scott A. Bortoff, Stefano Di Cairano and others
      Date: December 10, 2012
      Where: IEEE Annual Conference on Decision and Control (CDC)
      MERL Contacts: Stefano Di Cairano; Scott A. Bortoff; Yebin Wang
      Brief
      • The papers "A Numerical Algorithm for Nonlinear L2-gain Optimal Control with Application to Vehicle Yaw Stability Control" by Milic, V., Di Cairano, S., Kasac, J., Bemporad, A. and Situm, Z., "The Rendezvous Dynamics under Linear Quadratic Optimal Control" by Di Cairano, S., Pascucci, C.A. and Bemporad, A. and "On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach" by Wang, Y., Ueda , K. and Bortoff, S.A. were presented at the IEEE Annual Conference on Decision and Control (CDC).
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