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TECHNICAL PAPERS

Globally Feedback Linearizable Time-Invariant Systems: Optimal Solution for Mayer’s Problem

[+] Author and Article Information
M. Schlemmer, S. K. Agrawal

Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716

J. Dyn. Sys., Meas., Control 122(2), 343-347 (Dec 10, 1998) (5 pages) doi:10.1115/1.482461 History: Received December 10, 1998
Copyright © 2000 by ASME
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References

Figures

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Torque actuated pendulum
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Example 1 (case i): unsymmetric initial and final joint motion with M=0.15 kg
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Example 1 (case ii): unsymmetric initial and final joint motion with M=0.30 kg
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Torque actuated flexible joint pendulum
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Example 2: phase space representation of the optimal trajectory
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Example 2: representation of the optimal trajectory over time

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