in this paper, the problem of optimal path following for a high speed planing boat is addressed. first, a nonlinear mathematical model of the boat’s dynamics is derived and then the serret-frenet frame is presented to facilitate the path following control design. to satisfy the constraints on the states and the input controls of the boat's nonlinear dynamics and minimize both the cross tracking...

planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. the problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

We give wavelet description for nonlinear optimal dynamics (energy minimization in high power electromechanical system). We consider two cases of our general construction. In a particular case we have the solution as a series on shifted Legendre polynomials, which is parametrized by the solution of reduced algebraical system of equations. In the general case we have the solution as a multireso-...

in the present paper, we develop a modified pseudospectral scheme for solving an optimal control problem which is governed by a switched dynamical system. many real-world processes such as chemical processes, automotive systems and manufacturing processes can be modeled as such systems. for this purpose, we replace the problem with an alternative optimal control problem in which the switching t...

the aim of this paper is to introduce a new approach for obtaining the numerical solution of singulary perturbed boundary value problems based on an optimal control technique. in the proposed method, first the mentioned equations are converted to an optimal control problem. then, control and state variables are approximated by chebychev series. therefore, the optimal control problem is reduced ...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

in this paper, we consider the second-kind chebyshev polynomials (skcps) for the numerical solution of the fractional optimal control problems (focps). firstly, an introduction of the fractional calculus and properties of the shifted skcps are given and then operational matrix of fractional integration is introduced. next, these properties are used together with the legendre-gauss quadrature fo...