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

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.