Extensions of quadratic minimisation theory: the discrete-time case
نویسنده
چکیده
A covariance condition is shown to be a necessary condition for the existence of a finite control law associated with discrete-time quadratic loss-minimisation problems. Sufficient conditions (including the covariance condition) are then determined which extend the range of optimal-control problems, for which a well defined control law may be calculated. The results may also be applied to solving problems in filtering and stability theory.
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 کاملRobust Model Predictive Control for a Class of Discrete Nonlinear systems
This paper presents a robust model predictive control scheme for a class of discrete-time nonlinear systems subject to state and input constraints. Each subsystem is composed of a nominal LTI part and an additive uncertain non-linear time-varying function which satisfies a quadratic constraint. Using the dual-mode MPC stability theory, a sufficient condition is constructed for synthesizing the ...
متن کاملANALYSIS OF DISCRETE-TIME MACHINE REPAIR PROBLEM WITH TWO REMOVABLE SERVERS UNDER TRIADIC POLICY
This paper analyzes a controllable discrete-time machine repair problem withL operating machines and two repairmen. The number of working servers can be adjusteddepending on the number of failed machines in the system one at a time at machine's failure orat service completion epochs. Analytical closed-form solutions of the stationary probabilities ofthe number of failed machines in the system a...
متن کاملExplicit Construction of Quadratic Lyapunov Functions for the Small Gain, Positivity, Circle, and Popov Theorems and Their Application to Robust Stability. Part Ii: Discrete-time Theory
In a companion paper ('Explicit construction of quadratic Lyapunov functions for the small gain, positivity, circle, and Popov theorems and their application to robust stability. Part I: Continuous-time theory'), Lyapunov functions were constructed in a unified framework to prove sufficiency in the small gain, positivity, circle, and Popov theorems. In this Part II, analogous results are develo...
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