NDLI: Closed loop trajectory optimization based on reverse time tree

Content Provider	Springer Nature Link
Author	Kim, Chyon Hae Sugano, Shigeki
Copyright Year	2016
Abstract	This paper addresses the general methods for creating the approximately optimal closed loop stabilization controllers that depend on given rigid body systems. The optimal stabilization controllers calculate the optimal force (torque) inputs that depend on the current states of the systems. In this paper, a creation method for approximately optimal controllers named closed loop optimizer based on reverse time tree (CLO-RTT) is proposed. In the open loop optimization phase, this method creates approximately optimal open loop solutions using rapid semi-optimal motion planning (RASMO). In the closed loop optimization phase, this method selects a solution from the RTT according to the measured current state of a system. The proposed method was validated in the time optimal stabilization problem of a double inverted pendulum model. The proposed method successfully stabilized the model quickly. When the resolution of RASMO was higher, the motion time was shorter.
Starting Page	1404
Ending Page	1412
Page Count	9
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	14
Issue Number	6
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2016-10-25
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Dynamics inverted pendulum online optimization reverse-time tree trajectory planning Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Closed-Loop Quantification and Compensation of Friction in an Inverted Pendulum

Dynamics and stabilization of a spherical inverted pendulum on a wheeled cart

The stabilization and 3D visual simulation of the triple inverted pendulum based on CGA-PIDNN

Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models

Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems

Visual servoing using an optimized trajectory planning technique for a 4 DOFs robotic manipulator

Smooth trajectory planning for a parallel manipulator with joint friction and jerk constraints

Fuzzy swinging-up with sliding mode control for third order cart-inverted pendulum system

Closed loop trajectory optimization based on reverse time tree

Similar Documents

Closed-Loop Quantification and Compensation of Friction in an Inverted Pendulum

Dynamics and stabilization of a spherical inverted pendulum on a wheeled cart

The stabilization and 3D visual simulation of the triple inverted pendulum based on CGA-PIDNN

Dynamic modeling of a two-wheeled inverted pendulum balancing mobile robot

Trajectory Planning and Optimized Adaptive Control for a Class of Wheeled Inverted Pendulum Vehicle Models

Controlled Invariants and Trajectory Planning for Underactuated Mechanical Systems

Visual servoing using an optimized trajectory planning technique for a 4 DOFs robotic manipulator

Smooth trajectory planning for a parallel manipulator with joint friction and jerk constraints

Fuzzy swinging-up with sliding mode control for third order cart-inverted pendulum system

Closed loop trajectory optimization based on reverse time tree