摘要:

AbstractOptimal control methods present an efficient approach to construct controls of robotic manipulators. Much recent research has been devoted to different problems of optimal control for industrial robots. In this paper we give a brief survey of work done in this field and present some new results on optimization of robotic motions. Manipulation robots governed by electromechanical drives are considered. We obtain open‐loop and feedback time‐optimal controls for robotic motions using both analytical and numerical methods. The results show that optimal controls can lead to a considerable improvement in the time taken for transport operations performed by rob

ISSN:0143-2087    

DOI:10.1002/oca.4660100402

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

年代:1989

数据来源: WILEY

摘要:

AbstractA three‐stage time‐lagged diffusion model that incorporates consumers' income, advertising and price effects is proposed. The derivation of the model synthesizes and relies upon a number of important arguments made in the diffusion and economic literature. Optimal control theory is used to derive normative advertising and pricing strategic implications for a monopolist introducing a new durable prod

ISSN:0143-2087    

DOI:10.1002/oca.4660100403

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

年代:1989

数据来源: WILEY

摘要:

AbstractThis paper gives a theoretical analysis of the applications of the exterior penalty method in continuous‐time non‐linear programs and constrained optimal control problems. As an example, the Cauchy Inequality in the continuous case is proved. Also, the exterior penalty method is used to treat constrained optimal control problems. It is proved, under suitable assumptions, that a constrained optimal control problem can be solved by performing a sequence of unconstrained optimal control problems, and the constrained solution to the constrained optimal control problem can be obtained as the limit of the solutions to the sequence of unconstrained optimal control problems. In using the exterior penalty method to solve constrained optimal control problems it is usually assumed that each of the modified unconstrained optimal control problems has at least one solution. An existence theorem for these problems is also gi

ISSN:0143-2087    

DOI:10.1002/oca.4660100404

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

年代:1989

数据来源: WILEY

摘要:

AbstractWe consider the design of control systems to minimize the input energy subject to output variance inequality constraints. Necessary and sufficient conditions are developed for state feedback, measurement feedback and dynamic controllers. We find that all these problems are equivalent to LQ problems with a diagonal output weighting matrixQ, whereQhas some interesting properties which reflect the importance of each constraint. An algorithm which iteratively selects the weightQis given. Similar results are also derived for the dual problem where input variance inequality constraints are desired. All these results can be applied to the deterministic case with inequality constraints on theL∞,‐norm of the outp

ISSN:0143-2087    

DOI:10.1002/oca.4660100405

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

年代:1989

数据来源: WILEY

摘要:

AbstractThis paper presents a method of finite series expansion using Hahn polynomials for the finite time optimal control of linear discrete time systems with a quadratic performance index. The method converts the discrete two‐point boundary value Euler—Lagrange difference equations into a set of linear algebraic equations. As a result, the computation is simple and straightforw

ISSN:0143-2087    

DOI:10.1002/oca.4660100406

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

年代:1989

数据来源: WILEY

摘要:

AbstractThis paper describes the application of an extended horizon self‐tuning control to a liquid‐liquid extraction column. The work forms part of an industrial collaborative project. The control law is derived from plant output prediction over several steps with the assumption that beyond a certain horizon the control increments become constant.This technique is used to control the hydrodynamics of a liquid‐liquid extraction column. The purpose of control is to maintain the column in its optimal behaviour zone, which corresponds to a specific hydrodynamic operation defined as a limit between two operating regimes. The measure of the conductivity gives information on the hydrodynamic behaviour of the column and has been selected as a control variable. The pulse frequency was also selected as a control variable.A single input‐output linear discrete model with time‐varying parameters was adopted to model the complex dynamics of the column. The model parameters are recursively estimated by a constant trace estimation algorithm. Some modifications have been introduced to improve the robustness of this estimation algorithm.Experiments carried out show that the presented algorithm has excellent control p

ISSN:0143-2087    

DOI:10.1002/oca.4660100407

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

年代:1989

数据来源: WILEY

ISSN:0143-2087    

DOI:10.1002/oca.4660100401

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

年代:1989

数据来源: WILEY