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  • Please use this identifier to cite or link to this item: https://repositorio.uti.edu.ec//handle/123456789/3947
    Title: Optimal position control of a mobile manipulator for minimum energy
    Authors: Varela-Aldás, José
    Issue Date: 2022
    Publisher: 6th IEEE Ecuador Technical Chapters Meeting, ETCM 2022. 6th IEEE Ecuador Technical Chapters Meeting, ETCM 2022. Quito. 11 October 2022 through 14 October 2022
    Abstract: This work presents the position control with energy optimization for a mobile manipulator and the proposal is based on the Pontryagin's Minimum Principle. The objective function is subject to the kinematic model of the robot with the non-holonomic motion constraint of the mobile platform and the boundary conditions as the desired parameters of the controller. The obtained differential equations are solved using the Shooting method to find the optimal co-states. The simulation performed shows that the position errors tend to zero and the control actions are optimized. Furthermore, these results are evaluated with respect to a control law based on the inverse kinematics of the robot. Finding that the minimum energy objective function is affected by the final time.
    URI: https://ieeexplore.ieee.org/document/9935753
    Appears in Collections:Artículos Científicos Indexados

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