摘要
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 an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.
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 an wavelet analysis. The numerical simulation shows, the method is effective for nonholonomic motion planning of space manipulator.
基金
theNationalNaturalScienceFoundationofChina(1 9782 0 0 3)
