The problem of moving rigid bodies efficiently is of particular interest in robotics because the simplest model of a mobile robot or of a manipulated object is often a rigid body. Path planning, controller design and robot design may all benefit from precise knowledge of optimal trajectories for a set of permitted controls. In this work, we present a general solution to the problem of finding m...

−− Time optimal monomer and reactor temperature set-point profiles were computed and implemented experimentally for the control of copolymer composition and minimization of reaction time in emulsion copolymerization systems. Iterative Dynamic Programming (IDP) was used for the offline calculation of the optimal profiles. This approach can deal with constrained optimization of systems described ...

A fast convergent optimization algorithm is proposed in this paper to calculate sequential optimal trajectories for pursuing a moving target or under dynamically changing environments. The changing boundary conditions or perturbations in such problems require an efficient algorithm to update the optimal trajectories with appropriate time steps. Concepts of a uniform B-spline and differentially ...

A Diesel cycle heat engine with internal and external irreversibilities of heat transfer and friction, in which the finite rate of combustion is considered and the heat transfer between the working fluid and the environment obeys Newton’s heat transfer law [ ( ) q T ≈ ∆ ], is studied in this paper. Optimal piston motion trajectories for minimizing entropy generation per cycle are derived for th...

Overhead cranes are widely used in industrial applications for material displacing. Many linear or nonlinear control schemes have been proposed for overhead cranes and implemented on electronic systems, but energy efficiency of transportation has seldom been considered in motion planning. This paper aims at finding an optimal solution of motion planning in terms of energy efficiency for overhea...

Time discrete systems determined by systems of difference equations are considered. The characterizations of their optimal trajectories with given starting and final states is studied. An algorithm based on dynamic programming technique for determining such trajectories is proposed. In additional multicriterion version for considered control model is formulated and a general algorithm for deter...

Inverse optimal control (IOC) is a powerful approach for learning robotic controllers from demonstration that estimates a cost function which rationalizes demonstrated control trajectories. Unfortunately, its applicability is difficult in settings where optimal control can only be solved approximately. While local IOC approaches have been shown to successfully learn cost functions in such setti...

in this paper, an integration of improve particle swarm optimization (ipso) incombination with successive quadratic programming (sqp) so called ipso-sqpalgorithm is proposed to solve time optimal bang-bang control problems. theprocedure is found not sensitive to the initial guess of the solution. due to randomselection in the first stage of the search process, the chance of converging to theglo...

This paper introduces a subclass of Hamiltonian control systems motivated by mechanical models. Some problems of time-optimal control are studied, and results on singular trajectories are obtained.