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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1, Pages 23-28 doi: 10.1007/s11465-012-0304-9

Abstract:

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots byconsidering nonlinear dynamic model and nonholonomic constraints of the system.Then, the optimal path planning of the mobile robot is formulated as an optimal control problem.To solve the problem, an indirect solution of the optimal control method is employed, and conditionsof the optimality derived as a set of coupled nonlinear differential equations.

Keywords： mobile robot trajectory planning nonlinear dynamic optimal control

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Galerkin approximationwith Legendre polynomials for a continuous-time nonlinear optimal control problem Article

Xue-song CHEN

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 10, Pages 1479-1487 doi: 10.1631/FITEE.1601101

Abstract: We investigate the use of an approximation method for obtaining near-optimal solutions to a kind of nonlinearGalerkin approximation with Legendre polynomials (GALP) for GHJB equations has not been applied to nonlinearNumerical examples show that the update control laws converge to the optimal control for nonlinear CT

Keywords： Generalized Hamilton-Jacobi-Bellman equation Nonlinear optimal control Galerkin approximation Legendre

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Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 2, Pages 219-228 doi: 10.1007/s11465-011-0218-y

Abstract:

The aim of the paper is to analyze the nonlinear dynamics of robotic arms with elastic links and jointsassessment of assumed modes and finite element methods as more convenient approaches for computing the nonlinearFinally, a brief description of the optimal motion generation is presented and the simulation is carriedout to investigate the role of robot dynamic modeling in the control of robots.

Keywords： robotic arms elastic link elastic joint nonlinear dynamics optimal control

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Indirect adaptive fuzzy-regulated optimal control for unknown continuous-time nonlinear systems

Haiyun Zhang, Deyuan Meng, Jin Wang, Guodong Lu,gray_sun@zju.edu.cn,tinydreams@126.com,dwjcom@zju.edu.cn,lugd@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 2, Pages 141-286 doi: 10.1631/FITEE.1900610

Abstract: We present a novel indirect adaptive fuzzy-regulated optimal control scheme for continuous-time nonlinearHamilton-Jacobi-Bellman (HJB) equation associated with its performance function is derived for the original nonlinearBased on this particular critic, an adaptive optimal feedback controller is developed as the actor withresult is an online mechanism implemented as an , which involves continuous-time adaptation of both the optimalcost and the optimal control policy.

Keywords： Indirect adaptive optimal control Hamilton-Jacobi-Bellman equation Fuzzy-regulated critic Adaptiveoptimal control actor Actor-critic structure Unknown nonlinear systems

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Trajectory optimization with constraints for alpine skiers based on multi-phase nonlinear optimal control

Cong-ying Cai, Xiao-lan Yao,yaoxiaolan@bit.edu.cn

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 10, Pages 1413-1534 doi: 10.1631/FITEE.1900586

Abstract: The original problem is converted into a multi-phase nonlinear problem solved with a , and the trajectory

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Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 2, Pages 179-210 doi: 10.1007/s11465-018-0464-3

Abstract: >Hydraulic servo system plays a significant role in industries, and usually acts as a core point in controlEssential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, dueIn this paper, a discussion for challenges in model-based nonlinear control, latest developments andsolutions including parameter adaptation, nonlinear robust control, state and disturbance observationhydraulic servo control are briefly explored and discussed.

Keywords： hydraulic servo system adaptive control robust control nonlinear friction disturbance compensation repetitivecontrol noise alleviation constraint control

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Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 204-212 doi: 10.1007/s11465-016-0380-3

Abstract:

In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibrationThe control is developed for devices actuated by speed-controlled servo drives.The control is aimed to be compatible with most industrial applications given the simplicity of implementation

Keywords： industrial robot nonlinear control vibration damping model-free control motion control

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An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

Frontiers of Chemical Science and Engineering 2022, Volume 16, Issue 2, Pages 237-250 doi: 10.1007/s11705-021-2058-6

Abstract: Advanced model-based control strategies, e.g., model predictive control, can offer superior control ofThis work articulates an integrated system identification procedure for deriving black-box nonlinearcontinuous-time multiple-input multiple-output system models for nonlinear model predictive control.model predictive controller for a highly nonlinear continuous stirred tank reactor system.This demonstration of how such system models could be identified for nonlinear model predictive control

Keywords： nonlinear model predictive control black-box modeling continuous-time system identification machinelearning industrial applications of process control

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Fuel optimal control of parallel hybrid electric vehicles

PU Jinhuan, YIN Chenliang, ZHANG Jianwu

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 3, Pages 337-342 doi: 10.1007/s11465-008-0057-7

Abstract: A mathematical model for fuel optimal control and its corresponding dynamic programming (DP) recursivelimitation of the HEV within an acceptable time period and can be used to evaluate and optimize the control

Keywords： mathematical Comparison computational complexity dimensionality corresponding

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Toward a nonlinear control of an AC-DC-PWM converter dedicated to induction heating

Amel HADRI-HAMIDA, S. ZEROUALI, A. ALLAG

Frontiers in Energy 2013, Volume 7, Issue 2, Pages 140-145 doi: 10.1007/s11708-013-0243-0

Abstract: In this paper, a nonlinear control strategy applied to an AC-DC-pulse width modulation (PWM) converterFirst a nonlinear system modeling is derived with state variables of the input current and the outputFor robust control of parameter perturbation, integrators are added to the exact feedback control lawThe simulation is provided to verify the validity of the control algorithm.

Keywords： DC-DC converter AC-DC-pulse width modulation (PWM) converter induction heating nonlinear control

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Parametric control of structural responses using an optimal passive tuned mass damper under stationary

Min-Ho CHEY, Jae-Ung KIM

Frontiers of Structural and Civil Engineering 2012, Volume 6, Issue 3, Pages 267-280 doi: 10.1007/s11709-012-0170-x

Abstract: In this study, the structural control strategy utilizing a passive tuned mass damper (TMD) system asdevice is outlined, highlighting the parametric optimization approach for displacement and acceleration controlFor the vibration control of an undamped structure, the optimal parameters of a TMD, such as the optimalFor damped structures, a numerical searching technique is used to obtain the optimal parameters of thethe displacement and acceleration based control effectiveness indices of the TMD are examined from the

Keywords： tuned mass damper parametric optimization passive control white noise earthquake excitation

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reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 9, Pages 759-768 doi: 10.1631/FITEE.1500053

Abstract: This paper investigates the trajectory tracking control for a class of nonlinear systems with timevaryingA unified model consisting of a linear delayed dynamic system and a bounded static nonlinear operatoris introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as theFirst, the definition of the tracking control is given.Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

Keywords： H∞ reference tracking Nonlinear system State feedback control Time-varying delays Unified model

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Optimal Scheduling of Variable-pressure Variable-flow Operation of Inverter-drive Pumps Connected in

Li Hongbin,Zhang Chenghui,Song Jun

Strategic Study of CAE 2001, Volume 3, Issue 9, Pages 52-57

Abstract:

The paper analyzes common methods for the optimal scheduling modeling problem of variable-pressure

Keywords： optimal scheduling nonlinear bounded programming speed regulation of pumps

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The Optimal Control Model of Reservoir Operations andSolving With Maximum Principle

Fang Qiang,Wang Xianjia, Fang Debin

Strategic Study of CAE 2007, Volume 9, Issue 4, Pages 55-59

Abstract: This paper tries to describe the continuous transformation characteristic of reservoir operations with optimalcontrol theory.After constructing the optimal control model of reservoir o perations, the paper presents the necessarycondition of optimal control of reservoir operations using maximum principle and analyzes the characteristicand concrete expression of optimal control strategy of reservoir operations in different conditions

Keywords： water conservancy management optimal control model maximum principle reservoiroperations

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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 4, Pages 344-351 doi: 10.1007/s11465-015-0364-8

Abstract: A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, suchThus, the application of such an optimal controller in cable-driven parallel robots can result in moreThis paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots.To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-drivenThe synthesis of the LQ optimal control is described, and the significant experimental results are presented

Keywords： accuracy cable-driven parallel robot linear quadratic optimal control

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Title Author Date Type Operation

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Journal Article

Galerkin approximationwith Legendre polynomials for a continuous-time nonlinear optimal control problem

Xue-song CHEN

Journal Article

Nonlinear dynamic analysis for elastic robotic arms

M. H. KORAYEM, H. N. RAHIMI

Journal Article

Indirect adaptive fuzzy-regulated optimal control for unknown continuous-time nonlinear systems

Haiyun Zhang, Deyuan Meng, Jin Wang, Guodong Lu,gray_sun@zju.edu.cn,tinydreams@126.com,dwjcom@zju.edu.cn,lugd@zju.edu.cn

Journal Article

Trajectory optimization with constraints for alpine skiers based on multi-phase nonlinear optimal control

Cong-ying Cai, Xiao-lan Yao,yaoxiaolan@bit.edu.cn

Journal Article

Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives

Jianyong YAO

Journal Article

Vibration suppression of speed-controlled robots with nonlinear control

Paolo BOSCARIOL,Alessandro GASPARETTO

Journal Article

An integrated approach for machine-learning-based system identification of dynamical systems under control: application towards the model predictive control of a highly nonlinear reactor system

Journal Article

Fuel optimal control of parallel hybrid electric vehicles

PU Jinhuan, YIN Chenliang, ZHANG Jianwu

Journal Article

Toward a nonlinear control of an AC-DC-PWM converter dedicated to induction heating

Amel HADRI-HAMIDA, S. ZEROUALI, A. ALLAG

Journal Article

Parametric control of structural responses using an optimal passive tuned mass damper under stationary

Min-Ho CHEY, Jae-Ung KIM

Journal Article

reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG