Optimal Switching Control of an Underactuated 2-Link Robot Arm
Summary
We present a robust numerical method capable of solving for
the open-loop state and control trajectory solutions to many
types of hybrid optimal control problems.
Optimal trajectories of an underactuated 2-DOF robot manipulator
with a brake in its second joint are investigated.
The robot arm contains
both a continuous and discrete control where the unknown discrete
control structure is highly coupled to the nonlinear dynamics
by an unknown number of switches.
A new, robust numerical method capable of solving for
the open-loop state and control trajectory solutions to many
types of hybrid optimal control problems has been applied to the
problem.
Experimental results are presented using a direct collocation and
sparse nonlinear programming
approach coupled with a branch-and-bound search technique.
The optimization problem and its numerical solution
has been derived by Michael Hardt
and have been published in Buss et al. (see below).
The animation has been implemented by Irena Simic
using the interactive graphics system SIGMA.
Video
AVI file (8.3 MB)
Relevant Publications
-
M. Buss, M. Glocker, M. Hardt, O. von Stryk, R. Bulirsch,
G. Schmidt:
Nonlinear hybrid dynamical systems: modeling, optimal control,
and applications.
To appear.
Fachgebiet Simulation und Systemoptimierung, TU Darmstadt
