Limits: Journal of Mathematics and Its Applications
Vol. 2 No. 1 (2005): Limits: Journal of Mathematics and Its Applications Volume 2 Nomor 1 Edisi Nove

Minimum-Energy Control of Two-Link Manipulator with Pure State Constraints

Subchan (Unknown)

Article Info

Publish Date
15 May 2005

Abstract

This paper presents an analysis and numerical solutions of the minimum-energy control of two-link robot manipulator. The minimum-energy control point-to-point trajectory is investigated subject to control constraints and state constraints on the angular velocities. The numerical solutions are solved by transforming the original problem into a nonlinear programming problem. The mathematical analysis of the optimal control problems is done based on the numerical results using an indirect method. The necessary conditions can be stated as a multi-point boundary value problems.

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Journal Info
Limits: Journal of Mathematics and Its Applications
Website

Abbrev

limits

Publisher

Institut Teknologi Sepuluh Nopember Surabaya

Subject

Computer Science & IT Mathematics

Description

Limits: Journal of Mathematics and Its Applications merupakan jurnal yang diterbitkan oleh Pusat Publikasi Ilmiah LPPM Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia. Limits menerima makalah hasil riset di semua bidang Matematika, terutama bidang Analisis, Aljabar, Pemodelan Matematika, ...