Optimal trajectory planning for nonlinear systems: robust and constrained solution

This paper presents a solution to the problem of generating constrained robust trajectory planning for nonlinear mechatronic systems. By using an indirect variational solution method, the necessary optimality conditions deriving from the Pontryagin's minimum principle are imposed, and lead to a...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	Robotica 2016-06, Vol.34 (6), p.1243-1259
Hauptverfasser:	Boscariol, P., Gasparetto, A.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Constraints Dynamical systems Mathematical analysis Mathematical models Optimization Robustness Trajectory planning
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!