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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

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