Abstract
The optimal control problem of nonholonomic motion planning of space manipulator was discussed. Utilizing the method of wavelet analysis, the discrete orthogonal wavelets were introduced to solve the optimal control problem, the classical Fourier basic functions were replaced by the wavelet expansion approximation. A numerical algorithm of optimal control was proposed based on wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manitulator.
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Communicated by Wu Rui-feng
Foundation item: the National Natural Science Foundation of China (19782003)
Biography: Ge Xin-sheng (1975∼)
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Xin-sheng, G., Qi-zhi, Z. & Yan-zhu, L. Based on wavelet analysis to optimal control of motion planning of space manipulator. Appl Math Mech 21, 1161–1168 (2000). https://doi.org/10.1007/BF02458994
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DOI: https://doi.org/10.1007/BF02458994