We describe two regularization techniques based on optimal control for solving two types of ill-posed problems. We include convergence proofs of the regularization method and error estimates. We illustrate our method through problems in signal processing and parameter identification using an efficient Riccati solver. Our numerical results are compared to the same examples solved using Tikhonov ...

We consider semi{discrete approximations of optimal control problems for linear distributed parameter dynamical systems, with cost functionals in Bolza or innnite horizon form. We give conditions for the convergence of approximate value functions and prove that the approximate optimal controls are a minimizing sequence for the continuous problem. We also show some concrete applications.

This talk will consider several types of adaptive control structure for nonlinear systems, based on the approximation of nonlinear functions by neural or fuzzy networks, which are also used to generate the control signals. The dynamic equations will be formulated as a generalisation of direct self-tuning or modelreference adaptation, in order to address the issues of parameter convergence and s...

This paper presents a variation on adaptive backstepping output feedback control design for uncertain minimum-phase linear systems. Unlike the traditional nonlinear design, the proposed control method is linear and Lyapunov-based without utilizing overparametrization, tuning functions, or nonlinear damping terms to address parameter estimation error. Local stability of the closed-loop system an...

Robust L2−L∞ consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L2−L∞ control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the conver...

This paper presents a new model reference adaptive control method to control motor torque in direct drive reluctance motors in an accurate and ripple-free fashion. It is based on the motor's voltage equation and requires only measurements of motor angle, winding voltages and currents. In addition, we introduce a new optimal torque-to-current conversion which minimizes copper losses. Simulations...

This paper is concerned with a set-point servo problem for MIMO systems with P·SPR·D control. The P·SPR·D control is constructed by introducing a SPR (strict positive real) element instead of the I element in PID control. The purpose is to design a P·SPR·D controller for aysmptotic stabilization and to adjust P, SPR, D parameter matrices for improving convergence speed of responses under guaran...

This paper proposes a control method for wheels to pass over rough terrain. In our previous work, we have developed a holonomic mobile mechanism capable of running over steps. The mechanism realizes omni-directional motion on a flat floor and passes over uneven ground in forward and backward directions. The vehicle has seven special wheels with cylindrical free rollers and two passive body axes...

In the Newton/log-barriermethod,Newton steps are taken for the log-barrier function for a xed value of the barrier parameter until a certain convergence criterion is satis ed. The barrier parameter is then decreased and the Newton process is repeated. A naive analysis indicates that Newton's method does not exhibit superlinear convergence to the minimizer of each instance of the log-barrier fun...