科研之友
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摘要
An optimal guaranteed control problem for electromechanical manipulator with the goal of finding an immovable or mobile target objects is considered. Unlike [1-6], as the optimality criterion, a functional taking into account power inputs of the light source on the gripper of the manipulator is taken. The sought object is assumed to be detected if it falls into the light circle with given illumination. The control algorithms of the gripper motion and corresponding laws of electric current variation in the light source circuit providing the detection of both immovable and mobile sought object in a guaranteed time for minimal light power inputs during the search are developed. The gain in light power inputs achieved for the proposed search algorithms is estimated.
- 出版日期2009-10
