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Stable optimal control applied to a cylindrical robotic arm

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Abstract

In this paper, an asymptotically stable optimal control is proposed for the trajectory tracking of a cylindrical robotic arm. The proposed controller uses the linear quadratic regulator method and its Riccati equation is considered as an adaptive function. The tracking error of the proposed controller is guaranteed to be asymptotically stable. A simulation shows the effectiveness of the proposed algorithm.

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Acknowledgments

The authors are grateful to the editors and the reviewers for their valuable comments and insightful suggestions, which helped to improve this research significantly. The authors thank the Secretaría de Investigación y Posgrado, Comisión de Operación y Fomento de Actividades Académicas del IPN, and Consejo Nacional de Ciencia y Tecnología for their help in this research. The fourth author would like to thank the financial support through a postdoctoral fellowship from Mexican National Council for Science and Technology (CONACYT).

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Authors and Affiliations

  1. Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, 02250, Mexico, DF, Mexico

    José de Jesús Rubio & J. Humberto Pérez-Cruz

  2. Laboratorio de Robótica y Mecatrónica, CIC, Instituto Politécnico Nacional, Av. Juan de Dios Batiz, s/n Col. Zacatenco, 07738, Mexico, DF, Mexico

    César Torres & Carlos F. Aguilar-Ibáñez

  3. Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara Boulevard Marcelino García Barragán, No. 1421, 44430, Guadalajara, JAL, Mexico

    J. Humberto Pérez-Cruz

Authors
  1. César Torres
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  2. José de Jesús Rubio
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  3. Carlos F. Aguilar-Ibáñez
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  4. J. Humberto Pérez-Cruz
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Correspondence to José de Jesús Rubio.

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Torres, C., de Jesús Rubio, J., Aguilar-Ibáñez, C.F. et al. Stable optimal control applied to a cylindrical robotic arm. Neural Comput & Applic 24, 937–944 (2014). https://doi.org/10.1007/s00521-012-1294-6

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  • DOI: https://doi.org/10.1007/s00521-012-1294-6

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