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RESEARCH PAPERS

Dynamic Path Synthesis and Optimal Control

[+] Author and Article Information
P. J. Starr

Mechanical Engineering Department, University of Minnesota, Minneapolis, Minnesota

J. Dyn. Sys., Meas., Control 96(1), 19-24 (Mar 01, 1974) (6 pages) doi:10.1115/1.3426768 History: Received August 17, 1973; Online July 13, 2010

Abstract

Dynamic Path Synthesis refers to a class of linkage synthesis problems in which constraint paths between specified positions are determined in such a way as to optimize some measure of the resulting dynamic behavior. These problems can be transformed into nonlinear optimal control problems which are generally non-autonomous. The physical nature of the system allows general comments to be made regarding uniqueness, controllability, and singular control. The ideas are developed in the context of a two-link device yielding a fourth order non-linear control problem, for which a numerical example is presented.

Copyright © 1974 by ASME
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