| On Minimum Norm Control for an Elastic Robot System |
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| 作者姓名： | WANG Hui |
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| 作者单位： | WANG HuiDepartment of Mathematics，Harbin Institute of Technology，Harbin 150080，China |
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| 摘 要： | In this paper, we discuss a robot system formulated as a vibrating elastic system. By regarding the damping coefficient of structure as the control variable and adjudging its optimality by norm minimum, we have proved the existence, the uniqueness and the approximation of the optimal control element by utilizing space L2(0,L) 's the reflexivity, the smoothness and the strict convexity.
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| 关 键 词： | 机械人 弹性系统 最佳控制 |
On Minimum Norm Control for an Elastic Robot System |
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| WANG Hui.On Minimum Norm Control for an Elastic Robot System[J].Journal of Systems Science and Systems Engineering,2002,11(2):158-163. |
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| Authors: | WANG Hui |
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| Institution: | Department of Mathematics ,Harbin Institute of Technology, Harbin 150080, China |
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| Abstract: | In this paper, we discuss a robot system formulated as a vibrating elastic system. By regarding the damping coefficient of structure as the control variable and adjudging its optimality by norm minimum, we have proved the existence, the uniqueness and the approximation of the optimal control element by utilizing space L2(0,l) 's the reflexivity, the smoothness and the strict convexity. |
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| Keywords: | robot elastic system norm minimum optimal control |
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