| Publication type: |
Article in Proceedings |
| Author: |
Dennis Schüthe, Udo Frese |
| Title: |
Optimal Control with State and Command Limits for a Simulated Ball Batting Task |
| Book / Collection title: |
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |
| Page(s): |
3988 – 3994 |
| Series: |
IEEE |
| Year published: |
2015 |
| Abstract: |
We introduce a task oriented optimal controller
based on the finite horizon quadratic regulator (LQR). The
task of being at a specified position with a specified velocity
in specified time is formalized by cost functions. Moreover, we
include soft constraints which are part of the cost function, such
that the optimal control can be computed in fixed time.We show
how soft constraints help to use redundancy and point out the
limitations of our soft constraint approach in simulations. |
| ISBN: |
10.1109/IROS.2015.7353939 |
| Internet: |
http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=7353939&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D7353939 |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv2/downloads/published/schuetheIros15.pdf |
| Keywords: |
task oriented optimal controller finite horizon LQR cost functions soft constraints |
| Status: |
Reviewed |
| Last updated: |
07. 01. 2016 |
