Computation of time-optimal controls applied to rigid manipulators with friction

DOI10.1080/00207179108934200zbMath0741.49015OpenAlexW1975957616MaRDI QIDQ3979746

R. P. H. Loop, L. Gerard Van Willigenburg

Publication date: 26 June 1992

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179108934200

zbMATH Keywords

time-optimal controlcontrol parametrizationbang-bang solutionsminimum Pontryagin's principlerigid manipulators with frictions

Mathematics Subject Classification ID

Related Items (8)

Minimum‐time control of systems with Coulomb friction: near global optima via mixed integer linear programming ⋮ On the discontinuity of the costates for optimal control problems with Coulomb friction ⋮ A phase-plane approach to time-optimal control of single-DOF mechanical systems with friction. ⋮ Discrete and sampled-data stochastic control problems with complete and incomplete state information ⋮ A non-smooth control law and time-optimality notions for the acrobot ⋮ Optimal control of systems with discontinuous differential equations ⋮ On the sampled-data linear quadratic tracking problem ⋮ A neural network assisted computed torque method for manipulator tracking control problems

Cites Work

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• On the existence of time-optimal control of mechanical manipulators
• Control parametrization: a unified approach to optimal control problems with general constraints
• Minimum-time control of robotic manipulators with geometric path constraints
• First order controllability and the time optimal control problem for rigid articulated arm robots with friction
• Time-optimal motions of robots in assembly tasks
• On the structure of the time-optimal controls for robotic manipulators
• A Computational Method for a Class of Dynamical Optimization Problems in which the Terminal Time is Conditionally Free
• The structure of decoupled non-linear systems
• Time‐optimal control for robotic manipulators

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