Quadratic Optimization of Impedance Control
Johansson, Rolf LU
and Spong, Mark W.
(1994)
1994 IEEE International Conference on Robotics and Automation
- Abstract
- This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8517294
- author
- Johansson, Rolf
LU
and Spong, Mark W.
- organization
- publishing date
- 1994
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings of the 1994 IEEE International Conference on Robotics and Automation
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 1994 IEEE International Conference on Robotics and Automation
- conference location
- San Diego, United States
- conference dates
- 1994-05-08 - 1994-05-13
- external identifiers
-
- scopus:0028014759
- DOI
- 10.1109/ROBOT.1994.351417
- project
- RobotLab LTH
- Lund Research Programme in Autonomous Robotics, 1993-1995
- language
- English
- LU publication?
- yes
- id
- 6c8f73ee-2e88-43eb-a807-cae1980f3ace (old id 8517294)
- date added to LUP
- 2016-04-04 12:59:08
- date last changed
- 2021-08-22 04:36:24
@inproceedings{6c8f73ee-2e88-43eb-a807-cae1980f3ace,
abstract = {{This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design parameters in the form of square weighting matrices or impedance matrices as known from linear quadratic optimal control. The proposed optimal control is useful both for motion control and force control.}},
author = {{Johansson, Rolf and Spong, Mark W.}},
booktitle = {{Proceedings of the 1994 IEEE International Conference on Robotics and Automation}},
language = {{eng}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Quadratic Optimization of Impedance Control}},
url = {{http://dx.doi.org/10.1109/ROBOT.1994.351417}},
doi = {{10.1109/ROBOT.1994.351417}},
year = {{1994}},
}