Minimum‐time control of systems with Coulomb friction: near global optima via mixed integer linear programming

DOI10.1002/oca.682zbMath1069.93514OpenAlexW2041286641MaRDI QIDQ5317802

Nader Sadegh, Brian J. Driessen

Publication date: 21 September 2005

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.682

zbMATH Keywords

Coulomb frictionmixed integer linear programmingminimum-time controlglobal optima

Mathematics Subject Classification ID

Mixed integer programming (90C11) Automated systems (robots, etc.) in control theory (93C85) Existence theories for optimal control problems involving ordinary differential equations (49J15)

Related Items

Mechanical structure optimization in minimum-time motion control of flexible bodies, Optimal control of systems with discontinuous differential equations

Uses Software

• CPLEX

Cites Work

• A time-optimal control algorithm for digital computer control
• Computation of minimum-time feedback control laws for discrete-time systems with state-control constraints
• Computation of time-optimal controls applied to rigid manipulators with friction
• Minimum-effort time-optimal control of linear discrete systems†
• Time-optimal feedback control of certain fourth-order systems