On the Optimal Robust Time-Delay Robot Dynamics

Vadim Azhmyakov, Luz Adriana Guzman Trujillo, Manuel Guillermo Forero Vargas

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferencia

Resumen

Our paper is devoted to a specific class of Optimal Control Problems (OCPs) in theoretical mechanics. We consider a minimax-Type optimal control processes governed by dynamic systems with randomly varying time delays. In particular we deals with the minimax-Type OCPs associated with a family of delayed Lagrange differential equations for the robot dynamics. The mathematical abstractions under consideration provide an adequate approach to many real-world robotic systems. Moreover, the proposed minimax dynamic optimization approach has a fundamental interpretation as a system robustness with respect to the unavoidable delays in robot control. The obtained convex structure of a linearized robot dynamics makes it possible to reduce the originally given delayed OCP to an auxiliary convex program in a suitable Euclidean space. The equivalent transformation we propose involves the wide range of effective algorithms for an effective computational treatment of the resulting convex OCP. We finally propose a concrete gradient based computational approach for the optimal control design of the controlled Lagrange-Type robot dynamics.

Idioma originalInglés
Título de la publicación alojada2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
EditoresLorena Garcia, Pedro Wightman, Winston Percybrooks, Henry Carrillo, Carlos Quintero
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538684641
DOI
EstadoPublicada - 24 dic 2018
Evento2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018 - Barranquilla, Colombia
Duración: 1 nov 20183 nov 2018

Serie de la publicación

Nombre2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018

Conferencia

Conferencia2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018
PaísColombia
CiudadBarranquilla
Período1/11/183/11/18

Huella Profundice en los temas de investigación de 'On the Optimal Robust Time-Delay Robot Dynamics'. En conjunto forman una huella única.

  • Citar esto

    Azhmyakov, V., Trujillo, L. A. G., & Vargas, M. G. F. (2018). On the Optimal Robust Time-Delay Robot Dynamics. En L. Garcia, P. Wightman, W. Percybrooks, H. Carrillo, & C. Quintero (Eds.), 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018 [8588119] (2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCRA.2018.8588119