Optimal operating modes with chattering switchings in manipulator control problems

MaRDI QIDQ2761252zbMATH OpenFDO

Authors L. A. Manita

Publication date 18 December 2001

Published in Prikladnaya Matematika i Mekhanika (Search for Journal in Brave)

zbMATH Keywords

chattering-trajectoriesmanipulator controloptimal mode

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Applications of optimal control and differential games (49N90) Robot dynamics and control of rigid bodies (70E60) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Review text

The author studies the motion of an \(m\)-link manipulator with specific trajectories, in particular the trajectories with chattering switchings (chattering-trajectories (CT)). It is proved the existence of the optimal CT in the neighborhood of the special modes of arbitrary even order. When the trajectory attains a special mode for a finite time, the optimal control has an infinite number of switchings.

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Cites work

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• Regimes with frequented switchings in problems of optimal control
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Cited in

(6)

• Neighborhood of the second-order singular regime in problems with control in a disk
• Accumulation of switchings in distributed parameter problems
• Optimal spiral-like solutions near a singular extremal in a two-input control problem
• A new tracking algorithm for some mechanical systems
• Structural stability of logarithmic spirals in control problems with second-order singular extremal
• Modes with switchings of increasing frequency in the problem of controlling a robot

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