Minimum Time Control with Trajectory Reassignment for Multi Degree-of-Freedom Systems Part II

Example solutions are given for the minimum time motion of systems with real-time mid-stream trajectory reassignment. The method follows from the previous paper (PART I) which is developed for multi-link manipulators with actuator dynamics and the use of a global linearization and decoupling transformation feedback. The present paper demonstrates time optimal positioning control with mid-stream trajectory reassignment for one and two degree-of-freedom manipulators with nonlinear dynamics. The nominal trajectory inputs are concatenated with the reassignment inputs to allow further reassignment.