Ieee Transactions on Automatic Control
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چکیده
| Time-optimal nonlinear control of rest to rest manoeuvres of Planar Double Arms Robot (PDAR) is solved using Pontryagin's Minimum Principle. The Forward-Backward Method (FBM) is applied to nd a numerical non-optimal solution that satisses the state equations with the initial and the nal boundary conditions. This solution is used to obtain an approximation of the initial values of the costates. The optimal solution is found by solving the corresponding nonlinear two-point boundary-value problem with the help of a shooting method and using the costates approximated by the FBM. A strategy that combines the shooting method and the FBM to time-optimal control of the PDAR is illustrated by the numerical examples .
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تاریخ انتشار 2007