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讨论了空间机械臂系统非完整运动规划的最优控制问题· 利用小波分析方法 ,将离散正交小波函数引入最优控制 ,由小波级数展开式逼近替代传统的Fourier基函数 ,提出基于小波分析的最优控制数值算法· 仿真结果表明 ,该方法对求解空间机械臂非完整运动规划问题是有效的·
The optimal control problem of nonholonomic motion planning of space manipulator system is discussed. By using wavelet analysis method, the discrete orthogonal wavelet function is introduced into the optimal control, and the traditional Fourier basis function is replaced by the wavelet series expansion approximation. Based on wavelet analysis Optimal control numerical algorithm · Simulation results show that this method is effective in solving the problem of nonholonomic motion in space manipulator