Optimal control of the rotation of a system of two bodies connected by an elastic rod

摘要

Optimal controls of the rotation of a mechanical system consisting of two rigid bodies, joined by an elastic rod, through a specified angle about an axis passing through the centre of mass of one of the bodies are constructed. The problem of the optimal control of the rotation of the system through a given angle with complete suppression of the oscillations of the elastic rod at the minimum of the energy functional of the control moment and the problem of time-optimality for a specified constraint on the energy functional of the control moment are solved. (C) 2015 Elsevier Ltd. All rights reserved.