The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, we deal with an optimal control problem for nonholonomic systems. We would be confronted with the Hamilton-Jacobi-Bellman (HJB) equation, whenever we try to obtain the feedback solution. Moreover, it is well known that a viscosity solution is necessary for the HJB equations in the case of nonholonomic systems. Generally, it is very difficult to obtain a standard solution for the HJB...
In this paper, we deal with an output regulation for nonlinear systems. Especially, when it comes to the output feedback control problem for nonlinear systems, it would be difficult to solve. From a practical point of view, it is an important issue to design a feedback controller using only output information. We introduce a certain kind of optimal inverse system for the output feedback control design...
A lot of control design methods have been reported so far. Among them we focus on the flatness based method. This method seems promising because the nonlinear controllers can be constructed by means of a linear design approach, due to the flatness property. However, it should be noted that there is little research about the flatness based design with the performance index. So we introduce the performance...
We propose a new algorithm for numerical solutions of constrained nonlinear optimal control problems, based on constrained LQ problems. The proposed algorithm is described as follows. First, we approximate the constrained nonlinear optimal control problems by the Taylor expansion technique, resulting in the standard LQ problems, but with linearized constraints. Then, by making use of penalty function...
In this paper, we deal with an obstacle avoidance control for a PVTOL (Planar Vertical Takeoff and Landing) aircraft. One of the effective approaches is to formulate such a problem in the framework of optimal control with penalties in the cost functions, and thus any existing optimal control design method is applicable. Based on the dasiavirtual spacepsila approach, we formulate the obstacle avoidance...
A new algorithm for numerical solutions of constrained nonlinear optimal control problems has been proposed based on Riccati transformation. First, we approximate the constrained nonlinear optimal control problems by the Taylor expansion technique. Then, constructing the constrained LQ problems as the accessory problems, we analytically solve them via Riccati transformation. Finally, repeating the...
In recent years, much concern has been raised about automatic parking systems for passenger vehicles. However, most of the researches are based on kinematic model, where the lateral and yaw dynamics is not taken into account. This paper proposes a real-time optimization approach to the parallel-parking control problem, focusing on the lateral and yaw dynamics. It should be noted that the parallel...
In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller...
In this paper, we consider robustness for real-time control method, which is based on the algorithms of numerical solutions for optimal control problems, called algorithmic control. We improved the conventional algorithmic control technique for the numerical robustness via incorporating computation time. The proposed control technique is applied to a positioning control problem of four-wheeled vehicles...
Some convergence properties of the real-time calculation method for nonlinear optimal control problems are proved. We adopt the so-called 'algorithmic control' as one of the real-time optimization methods, which is based on the iterative algorithms for obtaining the numerical solutions. In this paper, we prove that either the necessary condition of optimality is satisfied or the value of the performance...
A convergence property on the method for real-time calculation of nonlinear optimal control problems is proved. We adopt the so-called 'algorithmic control' as one of the real-time optimization methods, which is based on the iterative algorithms for obtaining the numerical solutions. In this paper, we prove that the value of the performance index is improved in the design process, if the optimal solutions...
When it comes to the real-time optimization of nonlinear control systems, model predictive control (MPC) and state-dependent Riccati equation (SDRE) methods are known to be effective and reliable. In this paper, we propose a new type of real-time control method for constrained nonlinear systems and demonstrate by some numerical simulations that the proposed method is also effective and reliable. In...
A new method for real-time calculation of constrained nonlinear optimal control problems is proposed. The proposed method is based on the iterative algorithms for obtaining the numerical solutions of optimal control problems. In this paper, we adopt the Riccati-equation based algorithm, one of the iterative algorithms, and demonstrate the proposed 'algorithmic controller' is applicable to the swing-up...
Based on the differential genetic programming, a new design method is proposed for optimal and/or robust controllers of nonlinear systems. First we introduce a new type of the genetic programming (GP), so-called differential GP (DGP), combining GP with an automatic differentiation scheme, which could solve Hamilton-Jacobi-Bellman (HJB)/ Hamilton-Jacobi-Isaacs(HJI)/ Francis-Byrnes-Isidori (FBI) equations...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.