Control system design with online planning for a desired signal and its application to robot manipulators
Akihiko Matsushita, Takeshi Tsuchiya · IEEE/ASME Transactions on Mechatronics · 1998
A simultaneous design method of an online planner of a desired signal and a control system is proposed to consider the interaction between the planner and the control system. The designed planner is sufficiently simple to calculate in real time. The proposed method is applied to posture control of robot manipulators.