Dynamics and control of actuated parallel structures as a constrained optimization problem through Gauss' principle and Appell's equations.
Georges Le VeyPublished in: ICRA (2007)
Keyphrases
- constrained optimization
- constraint handling
- constrained optimization problems
- objective function
- open loop
- control system
- augmented lagrangian
- closed form solutions
- inequality constraints
- penalty function
- interval analysis
- dynamical systems
- lagrange multipliers
- closed loop
- unconstrained optimization
- optimal solution
- linear equations
- control strategy
- mathematical model
- force control