Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints

DOI10.1115/1.2801134zbMATH Open0858.70020OpenAlexW2152616154MaRDI QIDQ4884763FDOQ4884763

Zvi Shiller

Publication date: 7 July 1996

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2801134

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zbMATH Keywords

Pontryagin maximum principlesmooth controlgradient searchtime optimal trajectoryreduced two-dimensional state spacetime-energy optimal trajectorytwo-link planar manipulatorUCLA direct drive arm

Mathematics Subject Classification ID

Differential games and control (49N70) Pursuit and evasion games (49N75) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Cited In (8)

• Structure of the time-optimal control law for multiple arms handling a common object along specified paths
• Optimal motion synthesis -- dynamic modelling and numerical solving aspects
• Robot path planning in a constrained workspace by using optimal control techniques
• A non-smooth control law and time-optimality notions for the acrobot
• Oscillation of numerical solution in the Runge-Kutta methods for equation \(x'(t) = ax(t) + a_{0}x([t])\)
• Computation of Path Constrained Time Optimal Motions With Dynamic Singularities
• Combined time and energy optimal trajectory planning with quadratic drag for mixed discrete-continuous task planning
• A light-propagation model for aircraft trajectory planning

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