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time-optimal Control Problem for <i>n</i>×<i>n</i>Co-Operative Parabolic Systems with Control in Initial Conditions

Advances in Pure Mathematics 2013年第9期3卷 38-43页

作者： Mohammed A. Shehata Department of Mathematics Faculty of Science Jazan University Jazan KSA

In this paper, time-optimal control problem for a liner n× n co-operative parabolic system involving Laplace operator is considered. This problem is, steering an initial state y(0)=u?, with control u?so that an observation y(t) hitting a given target set in minimum time. First, the existence and uniqueness of solutions of such system under conditions on the coefficients are proved. Afterwards necessary and sufficient conditions of optimality are obtained. Finally a scaler case is given.

关键词： time-optimal Control Problems Bang-Bang Controls Parabolic System Co-Operative Systems

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time-optimal Trajectory Planning of Dulcimer Music Robot Based on PSO Algorithm

Time-optimal Trajectory Planning of Dulcimer Music Robot Bas...

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第32届中国控制与决策会议

作者： Weimin Zhang Shixiong Fu School of Mechanical and Electronic Information China University of Geosciences

For a dulcimer music robot that strikes a dulcimer,fast and high-frequency striking is a key requirement,so the time optimization of the trajectory planning of the robot arm is the first problem to be solved in motion *** this paper,the kinematics modeling and solving are firstly completed by using the D-H parameter *** the steps of trajectory planning by interpolation and the application of basic PSO algorithm are *** for the deficiency of only velocity constraint,we propose an improve PSO algorithm considering complete kinematic constraints of all joints,which can ensure that the optimal trajectory planned is ***,the simulation experiments of time optimization and trajectory planning are carried out in *** show that after optimizing the interpolation time by the improved PSO algorithm under the kinematic constraints,the total time of trajectory planning of the robot is greatly reduced by 74.35%;and the planned time-optimal trajectory curves are continuous and smooth,which meets the requirements of motion stability of the *** a result,the efficiency of the improved PSO algorithm applied to timeoptimal trajectory planning of robot is verified.

关键词： Dulcimer Music Robot time-optimal Trajectory Planning PSO Algorithm

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The time-optimal Problems for Controlled Fuzzy R-Solutions

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Intelligent Control and Automation 2011年第2期2卷 152-159页

作者： Andrej V. Plotnikov Tatyana A. Komleva Irina V. Molchanyuk 不详

In the present paper, we show the some properties of the fuzzy R-solution of the control linear fuzzy differential inclusions and research the time-optimal problems for it.

关键词： Fuzzy Differential Inclusions Control Problems time-optimal Problems Fuzzy R-Solution

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Smooth and time-optimal Improved-Bezier Trajectory Planning Based on Dynamics for Industrial Robots

Smooth and Time-optimal Improved-Bezier Trajectory Planning ...

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第43届中国控制会议

作者： Wei Cai Yahui Gan Fang Fang Bo Zhou Xianzhong Dai School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education

This paper presents a smooth and time-optimal improved-Bezier trajectory planning algorithm that addresses the avoidance of solving switching points and solves the problem of discontinuous torque on the basis of the time-optimal path parameterization(TOPP) algorithm. The proposed approach employs the TOPP-RA algorithm with a friction model, to construct the optimal velocity trajectory under the constraints of the geometric paths and joint torques. Moreover, the proposed algorithm utilizes an enhanced Bezier curve instead of the jerk constraint in the trajectory optimization model to achieve a smooth trajectory. The modified Bezier curve optimizes the peaks of the pseudo-velocity curve in the phase plane to change the discontinuity of joint torque. The proposed algorithm ensures absolute time optimality and achieve a s mooth tr ajectory. The results of the MATLAB simulation experiment on a two-link motion system indicate the validity of the proposed algorithm.

关键词： time-optimal smooth trajectory planning improved-Bezier trajectory

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