@inproceedings{0bd3b26ab0e148dca08ce96ff360f7af,
title = "On the Optimal Robust Time-Delay Robot Dynamics",
abstract = "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.",
keywords = "control systems with time delays, Lagrange dynamics, linear feedback, optimal control, robust optimization of time-delay systems",
author = "Vadim Azhmyakov and Trujillo, {Luz Adriana Guzman} and Vargas, {Manuel Guillermo Forero}",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2nd IEEE Colombian Conference on Robotics and Automation, CCRA 2018 ; Conference date: 01-11-2018 Through 03-11-2018",
year = "2018",
month = dec,
day = "24",
doi = "10.1109/CCRA.2018.8588119",
language = "Ingl{\'e}s",
series = "2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Lorena Garcia and Pedro Wightman and Winston Percybrooks and Henry Carrillo and Carlos Quintero",
booktitle = "2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018",
address = "Estados Unidos",
}