Email this article Optimal Control of the Motion of a Two-Mass System
- Authors: Chernous’ko F.L.1,2
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Affiliations:
- Ishlinskii Institute for Problems in Mechanics
- Moscow Institute of Physics and Technology (State University)
- Issue: Vol 97, No 3 (2018)
- Pages: 295-299
- Section: Control Theory
- URL: https://journal-vniispk.ru/1064-5624/article/view/225517
- DOI: https://doi.org/10.1134/S1064562418030195
- ID: 225517
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Abstract
Plane motions of a two-mass system consisting of a rigid body and a point mass which can move relative to the body at a bounded velocity are considered. For the system, optimal control problems in which the initial positions of the objects are given, while their terminal positions are either fixed or partially free are stated and solved. Time optimal solutions are constructed in explicit form. The optimal trajectories of the point mass relative to the body are circular arcs. The results can find applications in mobile robotics and space vehicles.
About the authors
F. L. Chernous’ko
Ishlinskii Institute for Problems in Mechanics; Moscow Institute of Physics and Technology (State University)
Author for correspondence.
Email: chern@ipmnet.ru
Russian Federation, Moscow, 119526; Dolgoprudnyi, Moscow oblast, 141700
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