| dc.creator | Azhmyakov V. | |
| dc.creator | Trujillo L.A.G. | |
| dc.creator | Vargas M.G.F. | |
| dc.date | 2018 | |
| dc.date.accessioned | 2021-02-05T15:00:08Z | |
| dc.date.available | 2021-02-05T15:00:08Z | |
| dc.identifier.isbn | 9781538684641 | |
| dc.identifier.uri | http://hdl.handle.net/11407/6151 | |
| dc.description | Our 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.iso | eng | |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | |
| dc.relation.isversionof | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85060988900&doi=10.1109%2fCCRA.2018.8588119&partnerID=40&md5=784831ef1ab100e01fc952bd06fc2a76 | |
| dc.source | 2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018 | |
| dc.title | On the Optimal Robust Time-Delay Robot Dynamics | |
| dc.type | Conference Paper | eng |
| dc.rights.accessrights | info:eu-repo/semantics/restrictedAccess | |
| dc.identifier.doi | 10.1109/CCRA.2018.8588119 | |
| dc.publisher.faculty | Facultad de Ciencias Básicas | spa |
| dc.affiliation | Azhmyakov, V., Department of Basic Sciences, Universidad de Medellin, Medellin, Colombia | |
| dc.affiliation | Trujillo, L.A.G., Department of Basic Sciences, Universidad de Medellin, Medellin, Colombia | |
| dc.affiliation | Vargas, M.G.F., Facultad de Ingeniera, Universidad de Ibague Ibague, Colombia | |
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| dc.type.version | info:eu-repo/semantics/publishedVersion | |
| dc.type.driver | info:eu-repo/semantics/other | |
