A Study of Under Actuator Dynamic System by Comparing between Minimum Energy and Minimum Jerk Problems
This paper deals with under actuator dynamic systems such as spring-mass-damper system when the number of control variable is less than the number of state variable. In order to apply optimal control, the controllability must be checked. There are many objective functions to be selected as the goal of the optimal control such as minimum energy, maximum energy and minimum jerk. As the objective function is the first priority, if one like to have the second goal to be applied; however, it could not fit in the objective function format and also avoiding the vector cost for the objective, this paper will illustrate the problem of under actuator dynamic systems with the easiest to deal with comparing between minimum energy and minimum jerk.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1331751Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 961
 S.K. Agrawal and B.C. Fabien, Optimization of Dynamic Systems. Boston: Kluwer-Academic Publishers, 1999.
 H.G. Bock, "Numerical Solution of Nonlinear Multipoint Boundary Value Problems with Application to Optimal Control," ZAMM, 1978, pp. 58.
 J.J. Craig, Introduction to Robotic: Mechatronics and Control. Addison- Wesley Publishing Company, 1986.
 W.S. Mark, Robot Dynamics and Control. University of Illinois at Urbama-Champaign, 1989.
 T.R. Kane and D.A. Levinson, Dynamics: Theory and Applications. McGraw-Hill Inc, 1985.
 T. Veeraklaew, Extensions of Optimization Theory and New Computational Approaches for Higher-order Dynamic Systems (Dissertation). The University of Delaware, 2000.