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.


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    Title :

    Time-optimal control of acceleration constrained mechanical systems


    Contributors:


    Publication date :

    1986-01-01


    Size :

    6 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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