On the existence of time-optimal control of mechanical manipulators
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Publication:796813
DOI10.1007/BF00938755zbMath0544.49001OpenAlexW1998706894MaRDI QIDQ796813
Publication date: 1985
Published in: Journal of Optimization Theory and Applications (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/bf00938755
Control of mechanical systems (70Q05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Control/observation systems governed by ordinary differential equations (93C15) Linear vibration theory (70J99) Lagrange's equations (70H03)
Related Items (9)
On the design of output feedback for finite and infinite pole assignment in singular systems with application to the control problem of constrained robots ⋮ Computation of time-optimal controls applied to rigid manipulators with friction ⋮ Energy-optimal control of unconstrained planar RR robot manipulators ⋮ Stable observer-based trajectory controller for asymptotic model matching of a rigid robot ⋮ First order controllability and the time optimal control problem for rigid articulated arm robots with friction ⋮ Estimates of flexible-joint robot model response times and some control applications ⋮ A study on the time-response functions of robot models incorporating actuator dynamics with applications to estimator design ⋮ Energy-optimal trajectory planning for the Pendubot and the Acrobot ⋮ Further study on time optimal control of multi-link mechanical systems
Cites Work
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- Optimal control for nonlinear processes
- The existence of optimal controls
- Optimal control of a rotary crane
- Optimal control of a dynamical system representing a gantry crane
- An Existence Theorem in Problems of Optimal Control
- Stability of a spinning body containing elastic parts via Liapunov'sdirect method
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