Version 1
: Received: 17 April 2024 / Approved: 17 April 2024 / Online: 18 April 2024 (07:09:14 CEST)
How to cite:
Kamzolkin, D.; Ternovski, V. Time-Optimal Motions of Mechanical System with Viscous Friction. Preprints2024, 2024041144. https://doi.org/10.20944/preprints202404.1144.v1
Kamzolkin, D.; Ternovski, V. Time-Optimal Motions of Mechanical System with Viscous Friction. Preprints 2024, 2024041144. https://doi.org/10.20944/preprints202404.1144.v1
Kamzolkin, D.; Ternovski, V. Time-Optimal Motions of Mechanical System with Viscous Friction. Preprints2024, 2024041144. https://doi.org/10.20944/preprints202404.1144.v1
APA Style
Kamzolkin, D., & Ternovski, V. (2024). Time-Optimal Motions of Mechanical System with Viscous Friction. Preprints. https://doi.org/10.20944/preprints202404.1144.v1
Chicago/Turabian Style
Kamzolkin, D. and Vladimir Ternovski. 2024 "Time-Optimal Motions of Mechanical System with Viscous Friction" Preprints. https://doi.org/10.20944/preprints202404.1144.v1
Abstract
Optimal control has emerged as an indispensable tool in the domain of mechanical robotic systems. The dynamic processes under consideration in this paper are characterized by differential equations with an unknown coefficient. The problem addressed is time-optimal and exhibits bilinear characteristics. To investigate this inverse optimal problem, the classical method has been employed alongside Pontryagin’s Maximum Principle (PMP). This article aims to provide an exact piecewise function for controlling trajectories, specifically accounting for viscous friction. The goal is to determine the reachability set and to find the minimal process time. Notably, no simplifying assumptions were made during the analytical transformations.
Keywords
inverse problems; optimal control; maximum principle; viscous friction; reachibility set
Subject
Computer Science and Mathematics, Applied Mathematics
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
