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

DOI10.1080/00207179108934200MaRDI QIDQ3979746zbMATH OpenOpenAlexFDO

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

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)

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Cites work

• scientific article; zbMATH DE number 3603899 (Why is no real title available?)
• 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
• First order controllability and the time optimal control problem for rigid articulated arm robots with friction
• Minimum-time control of robotic manipulators with geometric path constraints
• On the existence of time-optimal control of mechanical manipulators
• On the structure of the time-optimal controls for robotic manipulators
• The structure of decoupled non-linear systems
• Time-optimal motions of robots in assembly tasks
• Time‐optimal control for robotic manipulators

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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