Abstract: We consider an optimal control problem of the Mayertype for a single-input, control affine, nonlinear system in small dimension. In this paper, we analyze effects that a modeling extension has on the optimality of singular controls when the control is replaced with the output of a first-order, time-invariant linear system driven by a new control. This analysis is motivated by an optim...

Control approaches for a two-link exible manipulator are studied in the context of robust synthesis for Linear Parameter-Varying systems. Diier-ent treatments of the inertia matrix variations in the manipulator system are examined in three control law design formulations. The rst two designs are based upon scaled H 1 or structured singular value synthesis. The third design makes use of a new ap...

This paper presents a general necessary condition for singular time optimal control of robotic manipulation moving along specified paths. Early work [l], [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 d...

in this paper, we try to use modeling based on singular perturbation theory, in order to control satellite attitude during the wide rolling angle maneuvering through nonlinear h∞ control strategy. differential equations describing dynamics of the satellite are presented first, and by choosing the appropriate dynamic model for actuators and based on the standard singular perturbation model, the ...

This paper introduces singular mix-valued logical networks and singular mix-valued logical control networks. Via semi-tensor product, a singular mix-valued logical network can be converted to an algebraic form. On this basis, the normalization problem and solvability are discussed. Then, fixed points and cycles of singular mix-valued logical networks are also studied. Furthermore, the optimal c...

This paper presents a study of a minimum time-to-climb trajectory analysis for aircraft flying in a twodimensional altitude dependent wind field. The time optimal control problem possesses a singular control structure when the lift coefficient is taken as a control variable. A singular arc analysis is performed to obtain an optimal control solution on the singular arc. Using a time-scale separa...