This project addresses the control of multiple interconnected mechanical systems. Such systems have applications ranging from robots in factories to spacecraft with multiple appendages. The research objective is the development of an efficient computational algorithm for minimum time control synthesis of such systems, and the feedback implementation of such systems. Current approaches to controlling this class of system suffer from time consuming computational difficulties in convergence to the optimal solution. This project attempts to refine the current method and increase the algorithmic efficiency. The research comprises four steps, including (1) development of an efficient computational algorithm for open loop minimum time control synthesis using continuation methods and bifurcation theory, (2) development of closed loop implementation schemes for executing the resulting minimal time trajectory, (3) validation of these methods by both simulation and experimentation, and (4) exploration of the possibility of generalization to flexible body systems and problems with state constraints.
