Optimal Control of Rigid Body Angular Velocity with Quadratic Cost
نویسندگان
چکیده
In this paper we consider the problem of obtaining optimal controllers which minimize a quadratic cost function for the rotational motion of a rigid body We are not concerned with the attitude of the body and consider only the evolution of the angular velocity as described by Euler s equations We obtain conditions which guarantee the existence of linear stabilizing optimal and suboptimal controllers These controllers have a very simple structure
منابع مشابه
Optimal Control of Rigid Body Angular
In this paper, we consider the problem of obtaining optimal controllers which minimize a quadratic cost function for the rotational motion of a rigid body. We are not concerned with the attitude of the body and consider only the evolution of the angular velocity as described by Euler's equations. We obtain conditions which guarantee the existence of linear stabilizing optimal and suboptimal con...
متن کاملAttitude Stabilization Using Modified Rodrigues Parameters without Angular Velocity Measurements
The optimal stabilization of a rigid body motion without angular velocity measurements is considered with the help of three internal rotors that effected by internal frictions. In this paper, the orientation of the body will be described in terms of the Modified Rodrigues parameters (MRPs). The optimal control law which stabilizes asymptotically this motion and minimizes the require like-energy...
متن کاملInverse Optimality Results forthe Attitude Motion of a Rigid Spacecraft
We present an approach for constructing optimal feedback control laws for optimal regulation of a rotating rigid spacecraft. We employ the inverse optimal control approach which circumvents the task of solving a Hamilton-Jacobi equation and results in a controller optimal with respect to a meaningful cost functional. The design reported in the paper is the rst optimal control design for attitud...
متن کاملDirect Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملOptimal Path Planning for Nonholonomic Robotic Systems via Parametric Optimisation
Motivated by the path planning problem for robotic systems this paper considers nonholonomic path planning on the Euclidean group of motions SE(n) which describes a rigid bodies path in n-dimensional Euclidean space. The problem is formulated as a constrained optimal kinematic control problem where the cost function to be minimised is a quadratic function of translational and angular velocity i...
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 1996