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On the Optimal Robust Time-Delay Robot Dynamics

dc.creatorAzhmyakov V.
dc.creatorTrujillo L.A.G.
dc.creatorVargas M.G.F.
dc.date2018
dc.date.accessioned2021-02-05T15:00:08Z
dc.date.available2021-02-05T15:00:08Z
dc.identifier.isbn9781538684641
dc.identifier.urihttp://hdl.handle.net/11407/6151
dc.descriptionOur paper is devoted to a specific class of Optimal Control Problems (OCPs) in theoretical mechanics. We consider a minimax-Type optimal control processes governed by dynamic systems with randomly varying time delays. In particular we deals with the minimax-Type OCPs associated with a family of delayed Lagrange differential equations for the robot dynamics. The mathematical abstractions under consideration provide an adequate approach to many real-world robotic systems. Moreover, the proposed minimax dynamic optimization approach has a fundamental interpretation as a system robustness with respect to the unavoidable delays in robot control. The obtained convex structure of a linearized robot dynamics makes it possible to reduce the originally given delayed OCP to an auxiliary convex program in a suitable Euclidean space. The equivalent transformation we propose involves the wide range of effective algorithms for an effective computational treatment of the resulting convex OCP. We finally propose a concrete gradient based computational approach for the optimal control design of the controlled Lagrange-Type robot dynamics. © 2018 IEEE.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.isversionofhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85060988900&doi=10.1109%2fCCRA.2018.8588119&partnerID=40&md5=784831ef1ab100e01fc952bd06fc2a76
dc.source2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
dc.titleOn the Optimal Robust Time-Delay Robot Dynamics
dc.typeConference Papereng
dc.rights.accessrightsinfo:eu-repo/semantics/restrictedAccess
dc.identifier.doi10.1109/CCRA.2018.8588119
dc.publisher.facultyFacultad de Ciencias Básicasspa
dc.affiliationAzhmyakov, V., Department of Basic Sciences, Universidad de Medellin, Medellin, Colombia
dc.affiliationTrujillo, L.A.G., Department of Basic Sciences, Universidad de Medellin, Medellin, Colombia
dc.affiliationVargas, M.G.F., Facultad de Ingeniera, Universidad de Ibague Ibague, Colombia
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dc.type.driverinfo:eu-repo/semantics/other


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