Energy-optimal trajectory planning for the Pendubot and the Acrobot

DOI10.1002/oca.2020zbMath1270.93075MaRDI QIDQ2847231

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Publication date: 4 September 2013

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2020

zbMATH Keywords

optimal control; nonholonomic constraints; Pendubot; Euler-Lagrange necessary condition; underactuated manipulators; Acrobot; trajectory-planning problem

Mathematics Subject Classification ID

49N90: Applications of optimal control and differential games

93C85: Automated systems (robots, etc.) in control theory

93C15: Control/observation systems governed by ordinary differential equations

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Uses Software

• OTIS

Cites Work

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