in this paper, we present a capable algorithm for solving a class of nonlinear optimal control problems (ocp's). the approach rest mainly on the differential transform method (dtm) which is one of the approximate methods. the dtm is a powerful and efficient technique for finding solutions of nonlinear equations without the need of a linearization process. utilizing this approach, the optim...

The main attempt of this article is extension the method so that it generallywould be able to consider the classical solution of the systems and moreover,produces the optimal trajectory and control directly at the same time. There-fore we consider a control system governed by a bone marrow cancer equation.Next, by extending the underlying space, the existence of the solution is con-sidered and ...

We consider an approximation scheme using Haar wavelets for solving a class of infinite horizon optimal control problems (OCP's) of nonlinear interconnected large-scale dynamic systems. A computational method based on Haar wavelets in the time-domain is proposed for solving the optimal control problem. Haar wavelets integral operational matrix and direct collocation method are utilized to find ...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

in this paper an approach based on evolutionary algorithms to find pareto optimal pair of state and control for multi-objective optimal control problems (moocp)'s is introduced‎. ‎in this approach‎, ‎first a discretized form of the time-control space is considered and then‎, ‎a piecewise linear control and a piecewise linear trajectory are obtained from the discretized time-control space using ...

We consider the dynamic interpolation problem for nonlinear control systems modeled by second-order differential equations whose configuration space is a Riem~nnlan manifold M. In this problem we are given an ordered set of points in M and would like to generate a trajectory of the system through the application of suitable control functions, so that the resulting trajectory in configuration sp...

There are various applications where homotopy constraints are useful in trajectory generation for mobile robots. In this paper, we present a method to generate an optimal trajectory restricted to a particular homotopy class, which is specified by a given representative trajectory. The optimality is achieved by formulating the trajectory generation problem as a Mixed-Integer Quadratic Program (M...

The optimal barbell trajectory for snatch weightlifting has been achieved empirically by several researchers. They have studied the differences between the elite weightlifters’ movement patterns and suggested three optimal barbell trajectories (type A, B, and C). But they didn’t agree for introducing the best trajectory. One of the reasons is this idea that the selected criterion by researchers...