On the existence of time-optimal control of mechanical manipulators
type: Item
instance of: scholarly article
title: On the existence of time-optimal control of mechanical manipulators
zbMATH Open document ID: 0544.49001
DOI: 10.1007/BF00938755
published in: Journal of Optimization Theory and Applications
publication date: 1985-01-01T00:00:00Z
review text: This paper is concerned with the problem of the existence and structure of time-optimal control for models derived from Lagrange equations of motion of mechanical systems involving links. The condition which ensures the existence of time-optimal control is demonstrated. The study conducted in this paper involves a highly nonlinear mathematical model of a two-degree-of-freedom mechanical system. However, the procedure and the results presented in this paper can be extended to mechanical systems with any finite number of degrees of freedom.
Mathematics Subject Classification ID: 49J15
Mathematics Subject Classification ID: 70H03
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 70J99
Mathematics Subject Classification ID: 93C15
zbMATH DE Number: 3866047
zbMATH Keywords: time-optimal control
zbMATH Keywords: mechanical systems
zbMATH Keywords: links
author: Amit Ailon
author: Gideon Langholz
MaRDI profile type: Publication
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full work available at URL: https://doi.org/10.1007/bf00938755
OpenAlex ID: W1998706894
description: scientific article; zbMATH DE number 3866047