Optimal Motion Control for Scoop of Exavator-Dragline

A model problem of minimal time of excavator-dragline bum turning for determined angle under finite damping of bifilar suspended scoop oscillations has been solved. With the aid of Pontryagin principle of maximum and the multiple controls parametrisation method the structure of an optimal control law has been resolved. A simple technique of optimal scoop trajectory calculations has been developed. The dynamic of optimal controls has been studied.