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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 study the consensus problem in nonholonomic systems (NHSs). Based on Brockett's stabilizability condition, the stabilization of NHSs is usually considered by time-varying or discontinuous control (including switching control). Observing that the consensus problem has more flexibility than the stabilization one, we aim to establish time-invariant continuous state feedbacks for the problem at hand.
In this paper, a new inversion approach has been proposed using the ratio of two mutually orthogonal components of recorded electric and magnetic fields: apparent admittance. This study aims at the development of a full waveform inversion algorithm in two-dimension (2D) without the precise knowledge of source functions and without any compensations of 3D nature of radar wave propagation. To alleviate...
In this paper, the main attention is focused on transient property of control input signal, we propose a novel adaptive controller for time-continuous single-input single-output linear systems with an input saturation in which i-th derivatives of the output signal (i = 1, ??????, relative degree) are available. To improve the control performance, a novel estimator using an observer for the tracking...
In this paper, we study an extended consensus problem for multi-agent systems, where the entire system is decentralized in the sense that each agent can only obtain information (states or outputs) from its neighbor agents. The concept extended consensus means that a combination of each agent's state elements is required to converge to the same vector. For this extended consensus problem, we propose...
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 study a consensus problem for multi-agent systems, where the entire system is decentralized in the sense that each agent can only obtain information (states or outputs) from its neighbor agents. Existing approaches in the literature are mostly based on graph Laplacian of the graph which describes the interconnection structure among the agents, and such methods can not deal with complicated...
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...
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...
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