Optimal operating modes with chattering switchings in manipulator control problems (Q2761252)
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scientific article; zbMATH DE number 1683309
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Optimal operating modes with chattering switchings in manipulator control problems |
scientific article; zbMATH DE number 1683309 |
Statements
18 December 2001
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manipulator control
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optimal mode
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chattering-trajectories
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Optimal operating modes with chattering switchings in manipulator control problems (English)
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The author studies the motion of an \(m\)-link manipulator with specific trajectories, in particular the trajectories with chattering switchings (chattering-trajectories (CT)). It is proved the existence of the optimal CT in the neighborhood of the special modes of arbitrary even order. When the trajectory attains a special mode for a finite time, the optimal control has an infinite number of switchings.
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