Approach for path following optimal control of multibody systems

An approach is proposed to the determination of approximate solutions of path following optimal control problems by exploiting modern global search and optimization techniques. An optimal path following algorithm for control of multibody systems is developed and a test example for minimum-time-energy control of a two-link manipulator is presented. Computer realization of the proposed method is mainly based on MATLAB simulation programs for function approximation, constrained optimization and genetic algorithms. The results of the method can be implemented to solve path following optimal control problems in the field of Computer Aided Control Engineering, Computer Integrated Manufacturing, Mechatronics and Robotics