Model based production system for on-line design of minimum time control cycles

A nonlinear stochastic system is considered which is supposed to operate under conditions of constantly changing goal assignment as well as varying components of the mathematical model of the system and constraints. A method is proposed for using a model-based production system for designing minimum-time control cycles of mechanical motion for an application in which control assignment can be changed during the command execution. Based upon an enhanced Bellman optimality principle for stochastic systems, the string of commands should be recomputed as soon as the new goal of motion is assigned. The problem of computational efficiency is solved by using a model-based production system for online design of the motion cycle