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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Martin, D.P. Baillieul, J. |
| Copyright Year | 1989 |
| Description | Author affiliation: Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA (Martin, D.P.; Baillieul, J.) |
| Abstract | An examination is made of the nature of continuation methods associated with integral optimal redundancy resolution. The goal is to reduce the computational requirements for the solution of the problem as well as to study the convergence behavior afforded by a continuation method. A differential equation describing the variation in the solution with epsilon is obtained. It is shown that under relatively mild conditions the continued solution exists for parameter values near the starting point of the method, but that the differential equations determining the curve are stiff and as such may be difficult to integrate numerically. Using the theory of exponential dichotomies, a transformation that permits the stable numerical integration of an approximation to these equations in the vicinity of epsilon =0 is obtained.< |
| Starting Page | 222 |
| Ending Page | 228 |
| File Size | 465373 |
| Page Count | 7 |
| File Format | |
| DOI | 10.1109/CDC.1989.70107 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1989-12-13 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Optimization methods Differential equations Kinematics Boundary conditions Boundary value problems Path planning Jacobian matrices Manipulators Aerospace engineering Mechanical engineering |
| Content Type | Text |
| Resource Type | Article |
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