By Topic

Optimal control of systems with hard control bounds

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Weinreb, A. ; Stanford University, Stanford, CA, USA ; Bryson, A.E.

The numerical solution of the optimal control and trajectory of systems with hard control bounds is considered. A new algorithm, which extends the gradient method [1] to systems with hard control bounds is presented. The algorithm is based on the use of an adjustable control-variation weight (ACW) matrix to enforce the bounds. The application of the algorithm to the minimum-time control of a two-link robot arm is presented as an example.

Published in:

Automatic Control, IEEE Transactions on  (Volume:30 ,  Issue: 11 )