ON SINGULAR TIME-OPTIMAL CONTROL ALONG SPECIFIED PATHS

被引：67

作者：

SHILLER, Z

机构：

[1] Department of Mechanical, Aerospace and Nuclear Engineering, University of California Los Angeles, Los Angeles

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 04期

关键词：

D O I：

10.1109/70.313107

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work [1], [7] ignored the issue of singular control, assuming bang-bang acceleration along the path. Recent work [6] has shown that the time optimal control can be singular if one of the equations of motion reduces to a velocity constraint. This paper derives a more general necessary condition for singular control. It is also proven that singular control cannot exist if the set of admissible controls is strictly convex, as is demonstrated for a two-link planar manipulator with elliptical actuator constraints.

引用

页码：561 / 566

页数：6

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