The optimal control of a spacecraft as it transitions between specified states in a fixed amount of time is studied. We approach the solution to our optimal control problem with a novel technique, treating the resulting system for the state and adjoints as a Hamiltonian system. We show that the optimal control for this system can be found once the F1 generating function for the Hamiltonian syst...

Abstract This paper studies the robust optimal control problem for robot tracking system. An optimal sliding mode control law is designed to solve this problem. Integral sliding mode control is employed to combine the first-order sliding mode with optimal control approach and is applied to robust control of robot manipulators. For the optimal control part, the Lyapunov optimizing control method...

In the present work, we consider a class of nonlinear optimal control problems, which can be called “optimal control problems in mechanics.” We deal with control systems whose dynamics can be described by a system of Euler-Lagrange or Hamilton equations. Using the variational structure of the solution of the corresponding boundary-value problems, we reduce the initial optimal control problem to...

In the present paper we address a nonlinear singular H1 sub-optimal control problem for a rigid spacecraft with actuator dynamics. Using recent results from nonlinear H1 control theory , we nd an explicit feedback solution involving the Euler parameters. Our solution is based on a solution to a corresponding nonlinear regular H1 suboptimal control problem for a rigid spacecraft with three contr...

For a nonlinear optimal control problem with state constraints, we give conditions under which the optimal control depends Lipschitz continuously in the L2 norm on a parameter. These conditions involve smoothness of the problem data, uniform independence of active constraint gradients, and a coercivity condition for the integral functional. Under these same conditions, we obtain a new nonoptima...

We prove a local existence result for the manoeuvrability control of a submarine. The problem is formulated as an optimal control problem with a nonlinear and highly coupled system of ODEs for the state law, a Lagrange type cost function, and nonlinear controls which take values on a convex and compact subset of R. Finally, the existence of solution for this problem is obtained by applying a re...