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

A. Ailon, G. Langholz

Research output: Contribution to journalArticlepeer-review

3 Scopus citations


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 languageEnglish
Pages (from-to)167-177
Number of pages11
JournalJournal of the Franklin Institute
Issue number3
StatePublished - 1 Jan 1986

ASJC Scopus subject areas

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


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