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Weighted max-norm estimate of two-stage splitting method for solving a class of nonlinear complementarity problems |
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| Authors: | Haijian Yang Qingguo Li Jingang Liu |
| Affiliation: | 2. Laboratorio de Robótica y Mecatrónica, CIC, Instituto Politécnico Nacional, Av. Juan de Dios Batiz, s/n Col. Zacatenco, 07738, Mexico, DF, Mexico 1. Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, 02250, Mexico, DF, Mexico 3. Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara Boulevard Marcelino García Barragán, No. 1421, 44430, Guadalajara, JAL, Mexico |
| Abstract: | In this paper, an asymptotically stable optimal control is proposed for the trajectory tracking of a cylindrical robotic arm. The proposed controller uses the linear quadratic regulator method and its Riccati equation is considered as an adaptive function. The tracking error of the proposed controller is guaranteed to be asymptotically stable. A simulation shows the effectiveness of the proposed algorithm. |
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