Time-Energy Optimal Control of Articulated Systems With Geometric Path Constraints

DOI10.1115/1.2801134zbMath0858.70020OpenAlexW2152616154MaRDI QIDQ4884763

Zvi Shiller

Publication date: 7 July 1996

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2801134

zbMATH Keywords

Pontryagin maximum principlesmooth controlgradient searchtime optimal trajectoryreduced two-dimensional state spacetime-energy optimal trajectorytwo-link planar manipulatorUCLA direct drive arm

Mathematics Subject Classification ID

Differential games and control (49N70) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Pursuit and evasion games (49N75)

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