Further study on time optimal control of multi-link mechanical systems

A. Ailon; G. Langholz

doi:10.1016/0016-0032(86)90007-4

Further study on time optimal control of multi-link mechanical systems

A. Ailon, G. Langholz

Department of Electrical & Computer Engineering

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

This paper is concerned with the problem of the existence of a time-optimal control solution for a multi-link mechanical system consisting of any finite number of degrees of freedom. It is shown that if for a given initial position there exists an admissible control function that transfers the system to a final target, then an admissible optimal control that makes the transfer in minimum time exists as well.

Original language	English
Pages (from-to)	167-177
Number of pages	11
Journal	Journal of the Franklin Institute
Volume	321
Issue number	3
DOIs	https://doi.org/10.1016/0016-0032(86)90007-4
State	Published - 1 Jan 1986

ASJC Scopus subject areas

Control and Systems Engineering
Signal Processing
Computer Networks and Communications
Applied Mathematics

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10.1016/0016-0032(86)90007-4

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abstract = "This paper is concerned with the problem of the existence of a time-optimal control solution for a multi-link mechanical system consisting of any finite number of degrees of freedom. It is shown that if for a given initial position there exists an admissible control function that transfers the system to a final target, then an admissible optimal control that makes the transfer in minimum time exists as well.",

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Further study on time optimal control of multi-link mechanical systems

Abstract

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