Time-Optimal Motions of a Mechanical System with Viscous Friction
Dmitrii Kamzolkin,
Vladimir Ternovski
Abstract:Optimal control is a critical tool for mechanical robotic systems, facilitating the precise manipulation of dynamic processes. These processes are described through differential equations governed by a control function, addressing a time-optimal problem with bilinear characteristics. Our study utilizes the classical approach complemented by Pontryagin’s Maximum Principle (PMP) to explore this inverse optimal problem. The objective is to develop an exact piecewise control function that effectively manages traje… Show more
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