this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

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...

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...

Optimal feedback controls of PDor PID-type can be approximated very efficiently by optimal open-loop feedback controls based on optimal open-loop controls. Extending the standard construction, stochastic optimal open-loop feedback controls are constructed by taking into account still the random parameter variations in the control system. Hence, corresponding to the standard deterministic case, ...

The design of a feedback controller, so as to minimize a given performance criterion, for a general non-linear dynamical system is difficult; if not impossible. But for a large class of nonlinear dynamical systems, the open loop control that minimizes a performance criterion can be obtained using calculus of variations and Pontryagin’s minimum principle. In this paper, the open loop optimal tra...

The problem of generating the trajectory for high rise/ high speed elevators is investigated in this paper. Several approaches are used: open loop optimal control, closed loop optimal control and optimization algorithms. Each approach is accompanied by numerical simulations.

A method of on-line constructing an optimal feedback control for linear systems under state and control constraints is suggested. At first, a fast algorithm of constructing an open-loop control is worked out. It is based on successive correction of the solution to the optimal control problem with intermediate state constraints by changing the location of constraints and introducing additional c...

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 ...