PROJECT TITLE :

Efficient Computation of Time-Optimal Point-to-Point Motion Trajectories

ABSTRACT:

This transient presents an economical algorithm to unravel time-optimal purpose-to-point motion control problems for discrete-time linear time-invariant systems with linear system constraints. Rather than using a bisection algorithm and solving a linear feasibility problem in each iteration, this transient proposes an iterative algorithm that's based mostly on the Newton–Raphson methodology. In every iteration a most range problem is solved, maximizing the travel range of a system for given motion time and system constraints. Though every iteration of the proposed algorithm is computationally a lot of expensive than an iteration of the bisection algorithm, numerical examples demonstrate that the presented approach is mostly more economical because of a great reduction in the amount of optimization problems to be solved.