Practical Stabilization Through Real-Time Optimal Control, ACC (2006; Minneapolis, Minnesota)
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Authors
Ross, I. Michael
Gong, Qi
Fahroo, Fariba
Kang, Wei
Subjects
Real-Time Optimal Control
Stabilization
control theory |
Stabilization
control theory |
Advisors
Date of Issue
2006-06-14
Date
June 14-16, 2006
Publisher
IEEE
Language
Abstract
Infinite-horizon, nonlinear, optimal, feedback control is one of the fundamental problems in control theory. In this paper we propose a solution for this problem based on recent progress in real-time optimal control. The basic idea is to perform feedback implementations through a domain transformation technique and a Radau based pseudospectral method. Two algorithms are considered: free sampling frequency and fixed sampling frequency. For both algorithms, a theoretical analysis for the stability of the closed-loop system is provided. Numerical simulations with random initial conditions demonstrate the techniques for a flexible robot arm and a benchmark inverted pendulum problem.
Type
Conference Paper
Description
The article of record as published may be located at http://ieeexplore.ieee.org
Proceedings of the 2006 American Control Conference ; Minneapolis, Minnesota, USA, June 14-16, 2006.
Proceedings of the 2006 American Control Conference ; Minneapolis, Minnesota, USA, June 14-16, 2006.
Series/Report No
Department
Applied Mathematics
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Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.