Geodesic
The game approach to control of double linked manipulator
Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 1 (2003), pp. 42-52

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For the double linked manipulator with three degrees of mobility game problems of approach-evasion with the given target set are investigated at different restrictions on controlling influences and on a minimax square-law functional. The received optimal decisions for linear model are used for control of nonlinear model with the help of an additional regulator.
Keywords: Тhree degrees of mobility, mobility game problems of approach-evasion. 
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А. Гукасян; V. K. Stepanyan. The game approach to control of double linked manipulator. Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 1 (2003), pp. 42-52. http://geodesic.mathdoc.fr/item/UZERU_2003_1_a5/