Abstract The subject of this work is the problem for time-suboptimal point-to-point control in the presence of control and acceleration constraints. A direct method for control synthesis of the corresponding two-point boundary-value problems, combined with a parametric optimization procedure is proposed. Control laws are obtained on the base of the relay principle — the motion of the mechanical system is such that in every samplinh interval, either the control functions or the dynamic constraints have their limit values. Using backward integration in time, we can solve the problem when deceleration constraints are imposed only in some fixed final intervals — which case is of special practical interest. To be more illustrative, the dynamical model of a d.c. manipulator with cylindrical coordinates is taken into consideration.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Time-optimal control of acceleration constrained mechanical systems


    Beteiligte:
    Marinov, Pencho (Autor:in) / Kiriazov, Petko (Autor:in)


    Erscheinungsdatum :

    01.01.1986


    Format / Umfang :

    6 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Constrained nonlinear optimal jet engine acceleration control

    LIANG, JUN-XIANG / WALKER, BRUCE | AIAA | 1988


    Constrained resolved acceleration control

    DARIUSH BEHZAD | Europäisches Patentamt | 2015

    Freier Zugriff