Integrals of Motion for Discrete-Time Optimal Control Problems
نویسنده
چکیده
We obtain a discrete time analog of E. Noether’s theorem in Optimal Control, asserting that integrals of motion associated to the discrete time Pontryagin Maximum Principle can be computed from the quasiinvariance properties of the discrete time Lagrangian and discrete time control system. As corollaries, results for first-order and higher-order discrete problems of the calculus of variations are obtained.
منابع مشابه
Discrete-time repetitive optimal control: Robotic manipulators
This paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. The proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. This kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...
متن کاملOptimal discrete-time control of robot manipulators in repetitive tasks
Optimal discrete-time control of linear systems has been presented already. There are some difficulties to design an optimal discrete-time control of robot manipulator since the robot manipulator is highly nonlinear and uncertain. This paper presents a novel robust optimal discrete-time control of electrically driven robot manipulators for performing repetitive tasks. The robot performs repetit...
متن کاملOptimal Finite-time Control of Positive Linear Discrete-time Systems
This paper considers solving optimization problem for linear discrete time systems such that closed-loop discrete-time system is positive (i.e., all of its state variables have non-negative values) and also finite-time stable. For this purpose, by considering a quadratic cost function, an optimal controller is designed such that in addition to minimizing the cost function, the positivity proper...
متن کاملThrust - Limited Optimal Three - Dimensional Spacecraft Trajectories
Several optimal three-dimensional orbital transfer problems are solved for thrust-limited spacecrafts using collocation and nonlinear programming techniques. The solutions for full nonlinear equations of motion are obtained where the integrals of the free Keplerian motion in three dimensions are utilized for coasting arcs. In order to limit the solution space, interior-point constraints are use...
متن کاملPareto-optimal Solutions for Multi-objective Optimal Control Problems using Hybrid IWO/PSO Algorithm
Heuristic optimization provides a robust and efficient approach for extracting approximate solutions of multi-objective problems because of their capability to evolve a set of non-dominated solutions distributed along the Pareto frontier. The convergence rate and suitable diversity of solutions are of great importance for multi-objective evolutionary algorithms. The focu...
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 2003