Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 1-21 |
| Number of pages | 21 |
| Journal | Journal of Optimization Theory and Applications |
| Volume | 46 |
| Issue number | 1 |
| DOIs | |
| State | Published - 1 May 1985 |
| Externally published | Yes |
Keywords
- Lagrange equations
- existence theorems
- mechanical manipulators
- time-optimal control
ASJC Scopus subject areas
- Control and Optimization
- Management Science and Operations Research
- Applied Mathematics