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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...
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, 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...
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...
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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