Optimal zeroing dynamics with applications to control of serial and parallel manipulators

Yunong Zhang, Jian Li, Shuai Li, Dechao Chen, Liangyu He

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)


The appearance of robot manipulators has dramatically improved the productivity in manufacturing. Serial and parallel manipulators are 2 classes of most popularly investigated manipulators, which have been playing an important role in robotic domain for a long time. Optimal control theory is a widely employed method that can achieve the objective constrained by some equations as subtasks, whereas zeroing dynamics is another powerful method to solve time-varying problems with an exponential rate of error convergence. Intuitively, the cross-fertilization of optimal control theory and zeroing dynamics may reach the capability to deal with time-varying problem in a cost-optimal manner. In this paper, we make progress along this direction by combining the optimal control theory and zeroing dynamics to propose a novel method called optimal zeroing dynamics for motion control of manipulators. The proposed method is applied to the control of serial and parallel manipulators, and the corresponding results have illustrated high accuracy and low sensitivity of the proposed optimal zeroing dynamics to disturbances.

Original languageEnglish
Pages (from-to)1393-1406
Number of pages14
JournalOptimal Control Applications and Methods
Issue number4
Publication statusPublished - 1 Jul 2018


  • motion control
  • optimal control theory
  • robot manipulators
  • zeroing dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Control and Optimization
  • Applied Mathematics


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