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Limits: Journal of Mathematics and Its Applications
Published by Institut Teknologi Sepuluh Nopember Surabaya
ISSN : 1829605X     EISSN : 25798936     DOI : -
Core Subject : Education,
Mathematics
Limits: Journal of Mathematics and Its Applications merupakan jurnal yang diterbitkan oleh Lembaga Penelitian dan Pengabdian Kepada Masyarakat (LPPM) Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia. Limits menerima makalah hasil riset di semua bidang Matematika, terutama bidang Analisis, Aljabar, Pemodelan Matematika, Sistem dan Kontrol, Matematika Diskrit dan Kombinatorik, Statistik dan Stokastik, Matematika Terapan, Optimasi, dan Ilmu Komputasi. Jurnal ini juga menerima makalah tentang survey literatur yang menstimulasi riset di bidang-bidang tersebut di atas.
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Search results for , issue " Vol 2, No 1 (2005)" : 1 Documents clear
Minimum-Energy Control of Two-Link Manipulator withPure State Constraints Subchan, Subchan
Limits: Journal of Mathematics and Its Applications Vol 2, No 1 (2005)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (98.344 KB) | DOI: 10.12962/j1829605X.v2i1.1360

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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