Time Optimal Robot Control with Obstacle Avoidance Constraints (CROSBI ID 491006)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Time Optimal Robot Control with Obstacle Avoidance Constraints
This paper presents a new numerical algorithm for time optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm is based on the backpropagation-through-time algorithm(BPTT), which is used as a learning algorithm for recurrent neural networks. The proposed algorithm provides better convergence properties then numerical algorithm based on conversion of optimal control problem into a nonlinear programming one. The algorithm is applied to the problem of time optimal robot control with obstacle avoidance constraints.
Time Optimal Control; Nonlinear Systems; Robot Control; Gradient Algorithm
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Podaci o prilogu
251-252-x.
2002.
objavljeno
Podaci o matičnoj publikaciji
Annals of DAAAM for 2000 and Proceedings of the 13th International DAAAM Symposium "Intelligent Manufacturing and Automation: Learning from Nature"
Katalinić, Branko
Beč: DAAAM International Vienna
Podaci o skupu
Intelligent Manufacturing and Automation : Learning from Nature
predavanje
23.10.2002-26.10.2002
Beč, Austrija