| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 5004932 | ISA Transactions | 2013 | 6 Pages |
Abstract
⺠A modified SDRE based on supplementing constraints into Q matrix is introduced. ⺠The PSA for solving the modified SDRE is presented. ⺠An example with control nonlinearities and time varying Q is solved by three methods. ⺠Obstacle avoidance via SDRE, as a result, in robotics is expressed. ⺠A planar and a 3D robot as examples are simulated.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
S. Rafee Nekoo,