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

DOI10.1080/00207179108934200zbMath0741.49015MaRDI QIDQ3979746

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

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

zbMATH Keywords

time-optimal control; control parametrization; bang-bang solutions; minimum Pontryagin's principle; rigid manipulators with frictions

Mathematics Subject Classification ID

49N70: Differential games and control

93C05: Linear systems in control theory

49N75: Pursuit and evasion games

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

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