A symplectic instantaneous optimal control for robot trajectory tracking with differential-algebraic equation models
- Submitting institution
-
University of Portsmouth
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 14575291
- Type
- D - Journal article
- DOI
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10.1109/TIE.2019.2916390
- Title of journal
- IEEE Transactions on Industrial Electronics
- Article number
- -
- First page
- 3819
- Volume
- 67
- Issue
- 5
- ISSN
- 0278-0046
- Open access status
- Compliant
- Month of publication
- May
- Year of publication
- 2019
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
3
- Research group(s)
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B - Computational Intelligence
- Citation count
- 18
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This paper provides a unified solution to solve the long-standing trajectory tracking control problems of robot multibody dynamic systems, via a symplectic instantaneous optimal control method. The proposed framework is effective, easy to implement, and able to provide accurate tracking results, validated by numerical simulations and virtual experiments.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -