Optimal control of the transport robot

The paper describes the time-optimal motion of transport robots with hanging load. The mathematical model of this robotic system consists of a pendulum attached by a flexible non-extendable string to a rigid body. The control function is velocity of the body. The feedback problem is as follow: within minimum time to transfer the system from the arbitrary initial state to the final state without oscillation of a load. The velocity of the body is bounded. The length of the string is not constant. The optimal regimes are obtained and the implementation of the feedback control laws for the start with stopping oscillations, motion without oscillations and the braking with stopping oscillation is presented. The results of the testing are given