1. E.D. Sontag and H.J. Sussmann. Time-optimal control of manipulators (reprint of 1986 IEEE Int Conf on Robotics and Automation paper. In M.W. Spong, F.L. Lewis, and C.T. Abdallah, editors, Robot Control, pages 266-271. IEEE Press, New York, 1993. Keyword(s): robotics, optimal control.

1. E.D. Sontag. Remarks on the time-optimal control of a class of Hamiltonian systems. In Proceedings of the 28th IEEE Conference on Decision and Control, Vol. 1--3 (Tampa, FL, 1989), New York, pages 217-221, 1989. IEEE. [PDF] Keyword(s): robotics, optimal control. Abstract:

   This paper introduces a subclass of Hamiltonian control systems motivated by mechanical models. It deals with time-optimal control problems. The main results characterize regions of the state space where singular trajectories cannot exist, and provide high-order conditions for optimality.




2. E.D. Sontag and H.J. Sussmann. Time-optimal control of manipulators. In Proc. IEEE Int.Conf.on Robotics and Automation, San Francisco, April 1986, pages 1692-1697, 1986. [PDF] Keyword(s): robotics, optimal control. Abstract:

   This paper studies time-optimal control questions for a certain class of nonlinear systems. This class includes a large number of mechanical systems, in particular, rigid robotic manipulators with torque constraints. As nonlinear systems, these systems have many properties that are false for generic systems of the same dimensions.




3. E.D. Sontag and H.J. Sussmann. Remarks on the time-optimal control of two-link manipulators. In Proc. IEEE Conf. Dec. and Control, 1985, pages 1646-1652, 1985. [PDF] Keyword(s): optimal control, robotics.

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