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

DOI10.1080/00207179108934200zbMATH Open0741.49015OpenAlexW1975957616MaRDI QIDQ3979746FDOQ3979746

Authors: R. P. H. Loop, L. Gerard Van Willigenburg 

Publication date: 26 June 1992

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179108934200

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zbMATH Keywords

time-optimal controlbang-bang solutionscontrol parametrizationminimum Pontryagin's principlerigid manipulators with frictions

Mathematics Subject Classification ID

Differential games and control (49N70) Pursuit and evasion games (49N75) Linear systems in control theory (93C05)

Cites Work

• A Computational Method for a Class of Dynamical Optimization Problems in which the Terminal Time is Conditionally Free
• Control parametrization: a unified approach to optimal control problems with general constraints
• Minimum-time control of robotic manipulators with geometric path constraints
• Title not available (Why is that?)
• The structure of decoupled non-linear systems
• On the existence of time-optimal control of mechanical manipulators
• Time-optimal motions of robots in assembly tasks
• Time‐optimal control for robotic manipulators
• On the structure of the time-optimal controls for robotic manipulators
• First order controllability and the time optimal control problem for rigid articulated arm robots with friction

Cited In (9)

• On the discontinuity of the costates for optimal control problems with Coulomb friction
• A phase-plane approach to time-optimal control of single-DOF mechanical systems with friction.
• A non-smooth control law and time-optimality notions for the acrobot
• First order controllability and the time optimal control problem for rigid articulated arm robots with friction
• A neural network assisted computed torque method for manipulator tracking control problems
• Minimum‐time control of systems with Coulomb friction: near global optima via mixed integer linear programming
• Discrete and sampled-data stochastic control problems with complete and incomplete state information
• On the sampled-data linear quadratic tracking problem
• Optimal control of systems with discontinuous differential equations

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