Hardware-in-the-Loop Iterative Optimal Feedback Control Without Model-Based Future Prediction

Optimal control provides a systematic approach to control robots. However, computing optimal controllers for hardware-in-the-loop control is sensitively affected by modeling assumptions, computationally expensive in online implementation, and time-consuming in practical application. This makes the t...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 35; no. 6; pp. 1419 - 1434
Main Authors:	Chen, Yuqing, Braun, David J.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.12.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Computational modeling Computer simulation Control architectures and programming Control systems Dynamical systems Feedback control hardware-in-the-loop control Hardware-in-the-loop simulation Iterative methods Mathematical models Nonlinear control Nonlinear dynamics Numerical simulation On-line systems Optimal control Optimization optimization and optimal control Predictive control Predictive models Robot control Trajectory Trajectory measurement
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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