we consider an approximation scheme using haar wavelets for solving a class of infinite horizon optimal control problems (ocp's) of nonlinear interconnected large-scale dynamic systems. a computational method based on haar wavelets in the time-domain is proposed for solving the optimal control problem. haar wavelets integral operational matrix and direct collocation method are utilized to ...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...

In this paper an approach based on evolutionary algorithms to find Pareto optimal pair of state and control for multi-objective optimal control problems (MOOCP)'s is introduced‎. ‎In this approach‎, ‎first a discretized form of the time-control space is considered and then‎, ‎a piecewise linear control and a piecewise linear trajectory are obtained from the discretized time-control space using ...