On the existence of time-optimal control of mechanical manipulators

DOI10.1007/BF00938755MaRDI QIDQ796813zbMATH OpenOpenAlexFDO

Authors Amit Ailon, Gideon Langholz

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

zbMATH Keywords

mechanical systemstime-optimal controllinks

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Lagrange's equations (70H03) Control of mechanical systems (70Q05) Control/observation systems governed by ordinary differential equations (93C15) Linear vibration theory (70J99)

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Cites work

• scientific article; zbMATH DE number 3133844 (Why is no real title available?)
• scientific article; zbMATH DE number 3669036 (Why is no real title available?)
• An Existence Theorem in Problems of Optimal Control
• Optimal control for nonlinear processes
• Optimal control of a dynamical system representing a gantry crane
• Optimal control of a rotary crane
• Stability of a spinning body containing elastic parts via Liapunov'sdirect method
• The existence of optimal controls

Cited in

(11)

• Computation of time-optimal controls applied to rigid manipulators with friction
• Stable observer-based trajectory controller for asymptotic model matching of a rigid robot
• Energy-optimal control of unconstrained planar RR robot manipulators
• On the design of output feedback for finite and infinite pole assignment in singular systems with application to the control problem of constrained robots
• First order controllability and the time optimal control problem for rigid articulated arm robots with friction
• scientific article; zbMATH DE number 3880173 (Why is no real title available?)
• Fastest damping of a linear inverted pendulum using a dynamic absorber
• Energy-optimal trajectory planning for the Pendubot and the Acrobot
• Further study on time optimal control of multi-link mechanical systems
• A study on the time-response functions of robot models incorporating actuator dynamics with applications to estimator design
• Estimates of flexible-joint robot model response times and some control applications

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