摘要
讨论了空间机械臂系统非完整运动规划的最优控制问题· 利用小波分析方法 ,将离散正交小波函数引入最优控制 ,由小波级数展开式逼近替代传统的Fourier基函数 ,提出基于小波分析的最优控制数值算法· 仿真结果表明 ,该方法对求解空间机械臂非完整运动规划问题是有效的·
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 manipulator.
出处
《应用数学和力学》
EI
CSCD
北大核心
2000年第10期1046-1052,共7页
Applied Mathematics and Mechanics
基金
国家自然科学基金资助项目!(19782 0 0 3)
