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Träfflista för sökning "WFRF:(Robertsson Johan) srt2:(2005-2009)"

Search: WFRF:(Robertsson Johan) > (2005-2009)

  • Result 1-3 of 3
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1.
  • Giselsson, Pontus, et al. (author)
  • Optimization of a Pendulum System using Optimica and Modelica
  • 2009
  • Conference paper (peer-reviewed)abstract
    • In this paper Modelica and Optimica are used to solve two different optimal control problems for a system consisting of a pendulum and a cart. These optimizations will demonstrate that Optimica is easy to use and powerful when optimizing systems with highly non-linear dynamics. The optimal control trajectories are applied to a real pendulum and cart system, in open loop as well as in closed loop with an MPC-controller. The experiments show that optimal trajectories from Optimica together with MPC feedback is a suitable control structure when optimal transitions through non-linear dynamics are desired.
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2.
  • Hast, Martin, et al. (author)
  • Optimal Robot Control using Modelica and Optimica
  • 2009
  • Conference paper (peer-reviewed)abstract
    • In this paper, Modelica along with Optimica has been used to formulate and solve a minimum time optimization problem. The problem concerns traversing a given path with a robot in as short time possible under input constraints. Different problem reformulations are discussed that increase the chance of finding optimal solutions. This paper also discusses the use of these optimal solutions for control of industrial robots. A control structure, in which the optimal trajectories are essential, are used on an ABB IRB140B to ensure robustness for model errors and disturbances.
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  • Result 1-3 of 3
Type of publication
conference paper (3)
Type of content
peer-reviewed (3)
Author/Editor
Robertsson, Anders (2)
Åkesson, Johan (2)
Giselsson, Pontus (1)
Robertsson, Otto (1)
Stefánsdóttir, Anna (1)
Hast, Martin (1)
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Karrholm, Johan (1)
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University
Lund University (3)
Language
English (3)
Research subject (UKÄ/SCB)
Engineering and Technology (2)
Medical and Health Sciences (1)
Year
2009 (3)

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