基于小波逼近的空间机械臂非完整运动最优规划的遗传算法

OPTIMAL CONTROL OF NONHOLONOMIC MOTION OF SPACE MANIPULATORS USING GENETIC ALGORITHM BASED ON WAVELET APPROXIMATION

摘要: 本文讨论了空间机械臂非完整运动规划问题．将空间机械臂非完整运动规划问题转化为非线性系统最优控制问题．在控制算法中用小波函数逼近控制输入规律．提出了空间机械臂非完整运动规划最优控制的遗传算法．数值仿真表明，小波逼近和遗传算法联合求解最优控制问题是有效的．

Abstract: The problem of nonholonomic motion planning of space manipulator system is discussed, and it is transformed into optimal control of nonlinear system. The control input rule is approximated by wavelet. The genetic algorithm of optimal control for nonholonomic motion planning of space manipulator is proposed. Numerical simulation indicates that the union of wavelet approximation and genetic algorithm is effective for optimal control problem.