{"title":"Combining Minimum Energy and Minimum Direct Jerk of Linear Dynamic Systems","authors":"V. Tawiwat, P. Jumnong","country":null,"institution":"","volume":23,"journal":"International Journal of Mechanical and Mechatronics Engineering","pagesStart":1218,"pagesEnd":1224,"ISSN":"1307-6892","URL":"https:\/\/publications.waset.org\/pdf\/7684","abstract":"Both the minimum energy consumption and\nsmoothness, which is quantified as a function of jerk, are generally\nneeded in many dynamic systems such as the automobile and the\npick-and-place robot manipulator that handles fragile equipments.\nNevertheless, many researchers come up with either solely\nconcerning on the minimum energy consumption or minimum jerk\ntrajectory. This research paper proposes a simple yet very interesting\nwhen combining the minimum energy and jerk of indirect jerks\napproaches in designing the time-dependent system yielding an\nalternative optimal solution. Extremal solutions for the cost functions\nof the minimum energy, the minimum jerk and combining them\ntogether are found using the dynamic optimization methods together\nwith the numerical approximation. This is to allow us to simulate\nand compare visually and statistically the time history of state inputs\nemployed by combining minimum energy and jerk designs. The\nnumerical solution of minimum direct jerk and energy problem are\nexactly the same solution; however, the solutions from problem of\nminimum energy yield the similar solution especially in term of\ntendency.","references":null,"publisher":"World Academy of Science, Engineering and Technology","index":"Open Science Index 23, 2008"}