Analytic Nonlinear Inverse-Optimal Control for Euler–Lagrange System
نویسندگان
چکیده
Recent success in nonlinear control design is applied to the control of Euler–Lagrange systems. It is known that the existence of optimal control depends on solvability of the so-called Hamilton–Jacobi–Isaccs (HJI) partial differential equation. In this article, the associated HJI equation for nonlinear inverse-optimal control problem for Euler–Lagrangian system is solved analytically. The resulting control is referred to as the reference error feedback, which takes conventional PID controller form. Consequently, robust motion control can be designed for robot manipulators using -gain attenuation from exogenous disturbance and parametric error.
منابع مشابه
Transition to nonlinear H-inf optimal control from inverse optimal solution for Euler-Lagrange system
One of recent achievements in the field of nonlinear H∞ optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-JacobiIsaccs (HJI) equation associated to the so-called nonlinear H∞ inverse-optimal control [1]. In this paper, we address the problem of nonlinear H∞ optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By...
متن کاملComposite Nonlinear Feedback Control for an Underactuated Gantry System
This paper investigates the design of composite nonlinear feedback (CNF) control law for an underactuated gantry crane system to achieve positioning and anti-swing control. First, the dynamic model of a nonlinear underactuated gantry crane system is established by using the Euler-Lagrange modeling method. Then, the CNF control law is designed for the system to improve the anti-swing performance...
متن کاملOptimal Control of Mechanical Systems
In the present work, we consider a class of nonlinear optimal control problems, which can be called “optimal control problems in mechanics.” We deal with control systems whose dynamics can be described by a system of Euler-Lagrange or Hamilton equations. Using the variational structure of the solution of the corresponding boundary-value problems, we reduce the initial optimal control problem to...
متن کاملDistributed H∞ optimal control of networked uncertain nonlinear Euler-Lagrange systems with switching communication network topologies
This paper is concerned with the design of distributed state synchronization and trajectory tracking control laws for nonlinear Euler-Lagrange (EL) systems in presence of parameter uncertainty and external disturbances with fixed and switching communication network topologies. Specifically, H∞ optimal control techniques are employed to formally design controllers which address the state synchro...
متن کاملVariational Collision Integrators and Optimal Control
This paper presents a methodology for generating locally optimal control policies for mechanical systems that undergo collisions at point contacts. Principles of nonsmooth mechanics for rigid bodies are used in both continuous and discrete time, and provide impact models for a variety of collision behaviors. The discrete Euler-Lagrange (DEL) equations that follow from the discrete time analyses...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2001