摘要:

AbstractControllers using full‐state feedback and observer‐based feedback for mechanical systems subjected to periodic follower loads are designed in this paper. The designs are accomplished using an algebraic method incorporating Chebyshev polynomials coupled with principles of optimal control theory. The major advantage of this method is that it transforms differential equations with periodic coefficients to linear algebraic equations. Also, a dual‐system approach to design observers for such periodic systems turns out to be a novel technique and appears to have been employed for the first time. As an example of a mechanical system a triple inverted pendulum subjected to a periodic follower load is chosen and it is shown that both types of controllers can be successfully designed. The computational aspects and the suitability of this method for higher‐order mechanical systems are studied by applying it to one through five‐mass inverted pendulum models. The efficiency of the method is checked against the Runge–Kutta, Adams–Moulton and Gear numerical algorithms available in the IMSL software package by comparing the CPU time taken to evaluate the characteristic exponents of the Floquet transition matrix (FTM) as well as the norm of the control vector at the end of one period. It is shown that the proposed technique becomes much more efficient for higher

ISSN:0143-2087    

DOI:10.1002/oca.4660140202

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1993

数据来源: WILEY

摘要:

AbstractAn autopilot for a transport aircraft is designed using mixedH2andH∞ optimal control. The control law design technique allows real parameter uncertainty to be accounted for in the design process. The autopilot consists of an inner loop that controls aircraft heading in response to external commands and an outer loop that tracks a localizer beam so that the aircraft is properly aligned with the runway for landing. The problem formulation and the robust control law design technique allow a wide range of performance and robustness requirements to be met. Analysis of the closed‐loop system shows the controller performance and robustness for a number of flight conditions through two separate approach profi

ISSN:0143-2087    

DOI:10.1002/oca.4660140203

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1993

数据来源: WILEY

摘要:

AbstractThe infinite horizon, multiobjective linear quadratic control problem for continuous time systems is considered. Following a utopian approach, the optimal solution is defined as the solution that minimizes the distance from the utopian point in the cost space. It is shown that under standard stabilizability and detectability assumptions the optimal solution always exists. The solution coincides with the solution of a scalar LQ problem in which the cost matrices are given by a suitably weighted sum of their counterparts in the individual criteria. By exploiting the characterization and properties of the optimal solution, it is shown that the problem can be efficiently solved by means of a Newton‐type algorith

ISSN:0143-2087    

DOI:10.1002/oca.4660140204

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1993

数据来源: WILEY

摘要:

AbstractA non‐linear dynamic system subject to bounded control forces is considered. It is shown that under certain conditions the feedback control can be chosen in such a way that the system reaches the prescribed terminal state in finite time. This control is obtained through decomposition of the system into subsystems with one degree of freedom each and applying the approach of differential games. Explicit formulae for the bounded control forces and the time of motion are presented. The obtained control is robust and can cope with small disturbances and parameter variations. Applications to robot control are discussed. The obtained feedback control is compared with another one which does not take small non‐linearities and disturbances into acco

ISSN:0143-2087    

DOI:10.1002/oca.4660140205

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1993

数据来源: WILEY

摘要:

AbstractThe existence of an optimal control for non‐linear systems having an implicit derivative with quadratic performance is proved. The results are established through the notions of condensing map and measure of non‐compactness of a set and using a fixed point theorem due to Sadovs

ISSN:0143-2087    

DOI:10.1002/oca.4660140206

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1993

数据来源: WILEY

ISSN:0143-2087    

DOI:10.1002/oca.4660140201

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1993

数据来源: WILEY