Paper Info
Title
Quadratic optimization of impedance control
Abstract
This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control
Year
DOI
Venue
1994
10.1109/ROBOT.1994.351417
San Diego, CA
Keywords
Field
DocType
Lyapunov methods,force control,matrix algebra,optimal control,optimisation,position control,robots,stability,Hamilton-Jacobi equation,Lyapunov function,continuous-time quadratic optimization,force control,global asymptotic stability,impedance control,impedance matrices,linear quadratic optimal control,rigid-body motion control,square weighting matrices
Lyapunov function,Lyapunov equation,Optimal control,Linear-quadratic-Gaussian control,Matrix (mathematics),Control theory,Control engineering,Impedance control,Algebraic Riccati equation,Quadratic programming,Mathematics
Conference
ISSN
ISBN
Citations 
1050-4729
0-8186-5330-2
13
PageRank 
References 
Authors
1.21
6
2
Name
Order
Citations
PageRank
R. Johansson113126.02
Spong, M.W.2706154.32