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TECHNICAL BRIEFS

Neighboring Optimal Feedback Law for Higher-Order Dynamic Systems

[+] Author and Article Information
Tawiwat Veeraklaew, Sunil K. Agrawal

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716

J. Dyn. Sys., Meas., Control 124(3), 492-497 (Jul 23, 2002) (6 pages) doi:10.1115/1.1490130 History: Received January 26, 2000; Online July 23, 2002
Copyright © 2002 by ASME
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References

Figures

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A schematic of the on-line implementation of the neighboring optimal procedure to modify the optimal path for small perturbations in the initial conditions
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One-link manipulator with friction
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Optimal and neighboring optimal trajectories of the manipulator link from θ1(0)=1.5,θ1(0)=1.55 to the vertically down position
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A spring-mass-damper system with two masses and one input
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The optimal and neighboring optimal (i) inputs, (ii) states for Example 2

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