Computation of time-optimal controls applied to rigid manipulators with friction (Q3979746)

Starting from the fact that many of the bang-bang solutions for the time- optimal control problems found by \textit{H. P. Geering, L. Guzzella, S. Hepner} and \textit{C. Onder} [IEEE Trans. Autom. Control AC-31, 512-518 (1986; Zbl 0598.93026)] do not satisfy the minimum Pontryagin's principle, the authors propose a numerical computing test to verify it. Furthermore, this test reveals the previously unknown fact that the probability for a bang-bang solution, with more than \(n-1\) swich times, to satisfy Pontryagin's minimum principle is almost zero, where \(n\) is the dimension of the system. For singular control problems they propose and demonstrate the method of control parametrization. All these theoretical considerations are applied to the IBM 7535B04 robot considered by Geering et al. [loc. cit.] and the authors find out that some of the bang-bang solutions do not verify the Pontryagin's principle.