Suboptimal control of an electromechanical robot with elastic link

1997 ◽  
Author(s):  
S. A. Mikhailov
Keyword(s):  
Suboptimal Control ◽  
Elastic Link

scholarly journals Optimal Control and Positional Controllability in a One-Sector Economy

Games ◽  
2021 ◽  
Vol 12 (1) ◽  
pp. 11
Author(s):  
Nikolai Grigorenko ◽  
Lilia Luk’yanova
Keyword(s):  
Optimal Control ◽  
Production Capacity ◽  
Quality Criterion ◽  
Zero Order ◽  
Suboptimal Control ◽  
Time Interval ◽  
Bounded Control ◽  
Optimal Value ◽  
Current Production ◽  
The Given

A model of production funds acquisition, which includes two differential links of the zero order and two series-connected inertial links, is considered in a one-sector economy. Zero-order differential links correspond to the equations of the Ramsey model. These equations contain scalar bounded control, which determines the distribution of the available funds into two parts: investment and consumption. Two series-connected inertial links describe the dynamics of the changes in the volume of the actual production at the current production capacity. For the considered control system, the problem is posed to maximize the average consumption value over a given time interval. The properties of optimal control are analytically established using the Pontryagin maximum principle. The cases are highlighted when such control is a bang-bang, as well as the cases when, along with bang-bang (non-singular) portions, control can contain a singular arc. At the same time, concatenation of singular and non-singular portions is carried out using chattering. A bang-bang suboptimal control is presented, which is close to the optimal one according to the given quality criterion. A positional terminal control is proposed for the first approximation when a suboptimal control with a given deviation of the objective function from the optimal value is numerically found. The obtained results are confirmed by the corresponding numerical calculations.

Time suboptimal control of industrial manipulators along specified paths while keeping an end-effector orientation unchanged

Robotica ◽  
2003 ◽  
Vol 21 (2) ◽  
pp. 153-161 ◽  
Author(s):  
S. Kilicaslan ◽  
Y. Ercan
Keyword(s):  
Suboptimal Control ◽  
Time Step ◽  
End Effector ◽  
Industrial Manipulator ◽  
Industrial Manipulators ◽  
Angular Velocities ◽  
System Equations ◽  
Six Degree Of Freedom ◽  
Time Suboptimal Control

A method for the time suboptimal control of an industrial manipulator that moves along a specified path while keeping its end-effector orientation unchanged is proposed. Nonlinear system equations that describe the manipulator motion are linearized at each time step along the path. A method which gives control inputs (joint angular velocities) for time suboptimal control of the manipulator is developed. In the formulation, joint angular velocity and acceleration limitations are also taken into consideration. A six degree of freedom elbow type manipulator is used in a case study to verify the method developed.

On proportional plus proportional-integral suboptimal control

1975 ◽  
Vol 20 (4) ◽  
pp. 561-563 ◽  
Author(s):  
P. Bharathan ◽  
T. Natarajan ◽  
V. Seshadri
Keyword(s):  
Suboptimal Control ◽  
Proportional Integral
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