Synthesis of subminimum-time bounded control of system of rigid bodies

DOI10.1134/S1064230708030040MaRDI QIDQ733972zbMATH OpenOpenAlexFDO

Authors O. R. Kayumov

Publication date 19 October 2009

Published in Journal of Computer and Systems Sciences International (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1134/s1064230708030040

zbMATH Keywords

asymptotic stabilitycontrol of a system of rigid bodiesrobust control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Synthesis problems (93B50) Asymptotic stability in control theory (93D20)

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• Time-optimal motions of robots in assembly tasks

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(3)

• Planning the subminimum-time motion of a robotic manipulator which avoids obstacles
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• A specified‐time control framework for control‐affine systems and rigid bodies: A time‐rescaling approach

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