TR2012-079

On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach


    •  Wang, Y.; Ueda, K.; Bortoff, S.A., "On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach", IEEE Annual Conference on Decision and Control (CDC), DOI: 10.1109/CDC.2012.6426478, ISSN: 7434-1546, ISBN: 978-1-4673-2065-8, December 2012, pp. 7620-7625.
      BibTeX Download PDF
      • @inproceedings{Wang2012dec,
      • author = {Wang, Y. and Ueda, K. and Bortoff, S.A.},
      • title = {On the Optimal Trajectory Generation for Servomotors: A Hamiltonian Approach},
      • booktitle = {IEEE Annual Conference on Decision and Control (CDC)},
      • year = 2012,
      • pages = {7620--7625},
      • month = dec,
      • doi = {10.1109/CDC.2012.6426478},
      • issn = {7434-1546},
      • isbn = {978-1-4673-2065-8},
      • url = {http://www.merl.com/publications/TR2012-079}
      • }
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  • Research Areas:

    Advanced Control Systems, Mechatronics


This note considers the energy optimal trajectory control design approach. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. The minimum principle is applied to establish piecewise necessary optimality conditions. An approximate optimal control is proposed to circumvent the difficulty due to the nonlinearity of the cost function. Simulation is performed to illustrate the generation of the approximate optimal trajectory.