Costate Elimination in Optimal Dynamic Control of Nonlinear Systems
نویسنده
چکیده
— This paper proposes a method for optimal dynamic control of nonlinear time-invariant systems with a quadratic performance criterion by using the adjoint formulation of the system. From the Lagrangian the adjoint system is derived in terms of the Lagrange Multipliers, which are also called costate variables. Our approach makes the elimination of the costate possible and provides a dynamic control law based on state feedback which can be determined off-line.
منابع مشابه
Friction Compensation for Dynamic and Static Models Using Nonlinear Adaptive Optimal Technique
Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...
متن کاملSolving infinite horizon optimal control problems of nonlinear interconnected large-scale dynamic systems via a Haar wavelet collocation scheme
We consider an approximation scheme using Haar wavelets for solving a class of infinite horizon optimal control problems (OCP's) of nonlinear interconnected large-scale dynamic systems. A computational method based on Haar wavelets in the time-domain is proposed for solving the optimal control problem. Haar wavelets integral operational matrix and direct collocation method are utilized to find ...
متن کاملA single network adaptive critic (SNAC) architecture for optimal control synthesis for a class of nonlinear systems
Even though dynamic programming offers an optimal control solution in a state feedback form, the method is overwhelmed by computational and storage requirements. Approximate dynamic programming implemented with an Adaptive Critic (AC) neural network structure has evolved as a powerful alternative technique that obviates the need for excessive computations and storage requirements in solving opt...
متن کاملA unified framework for the numerical solution of optimal control problems using pseudospectral methods
Aunified framework is presented for the numerical solution of optimal control problems using collocation at Legendre–Gauss (LG), Legendre–Gauss–Radau (LGR), and Legendre–Gauss–Lobatto (LGL) points. It is shown that the LG and LGR differentiation matrices are rectangular and full rank whereas the LGL differentiation matrix is square and singular. Consequently, the LG and LGR schemes can be expre...
متن کاملAn Optimal Dynamic Control Method for an Isolated Intersection Using Fuzzy Systems
Traffic flow systems are nonlinear and uncertain, so it is very difficult to find their optimal points. In traditional traffic control systems, the traffic lights of crossings change in a fixed time period that is not optimal. On the other hand, most proposed systems are sufficiently capable of coping with the uncertainties of traffic flow. To solve this problem, there is a need to develop expe...
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 2002