Realtime control of robots with initial value perturbations<i>via</i>nonlinear programming methods

摘要

The mathematical model of an industrial robot with initial value perturbations is considered as a parametric nonlinear control problem subject to control and state constraints. Based on recent stability results for parametric control problems, a robust nonlinear programming method is proposed for computing the sensitivity derivatives of optimal solutions. Real-time control approximations of perturbed optimal solutions are obtained by evaluating a first order Taylor expansion of the perturbed solution. The efficiency of the real-time approximation is demonstrated for the robot model