Geodesic
About optimal stochastic control of double-link manipulator
Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 2 (2003), pp. 47-56.

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The issue of optimal stochastic control with the motion of double-link electromechanic manipulator is studied taking into account the factors of links of interaction. It is indicated under which conditions the interaction factors can be neglected and an assessment is given. The stochastic optimal control over the system is obtained and an assessment is given to the deviation of phase condition of the quid from the phase condition of the real motion.
Keywords: Double-link electromechanic manipulator, phase condition of the quid. 
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N. P. Sarkissyan. About optimal stochastic control of double-link manipulator. Proceedings of the Yerevan State University. Physical and mathematical sciences, no. 2 (2003), pp. 47-56. http://geodesic.mathdoc.fr/item/UZERU_2003_2_a6/

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