Inverse optimal control is a classical problem of control theory. It was first posed by Kalman in the early sixties. The problem, as addressed in literature, answers to the following two questions: (a) Given system matrices A,B and a gain matrix K, find necessary and sufficient conditions for K to be the optimal of an infinite time LQ problem. (b) Determine all weight matrices Q, R and S which ...

The process of analog system design has been formulated on the basis of the control theory application. This approach generalizes the design process and produces the different design trajectories inside the same optimization procedure. Numerical examples show that the potential computer time gain of the optimal design strategy with respect to the traditional design strategy increases when the s...

The optimal trajectories are known analytically for only a few ground vehicles: steered cars (Dubins 1957; Reeds & Shepp 1990), and wheel-chair-like differential-drive vehicles (Balkcom & Mason 2002). This paper presents the analytical time-optimal trajectories for a kinematic model of a vehicle of a new class, shown in figure 1(a). The wheels are omniwheels; unlike regular wheels, omniwheels s...

The time optimal path tracking for industrial robots regards the problem of generating trajectories that follow predefined end-effector (EE) paths in shortest time possible taking into account kinematic and dynamic constraints. The complicated tasks used in industrial applications lead to very long EE paths. At the same time smooth trajectories are mandatory in order to increase the service lif...