Optimal Control of a Delayed Model for an Industrial Robot Manipulator

The problem of controlling an industrial manipulator with time delays in the control system is considered. A bilinear model for the single-link manipulator is investigated. The control torque of the actuator is formed using regulators with an aftereffect from the beginning of the movement to the current moment. The task of optimal control of the manipulator is to determine the admissible control that minimizes the functional describing the deviation of the manipulator movement angle from the specified position. The functional and the control correspond to the Bellman equation. The problem of synthesizing the optimal control of the single-link manipulator is reduced to finding a solution to a system of differential equations that satisfies the boundary conditions at the ends of the control interval.