The article proposes a nonlinearoptimal(H-infinity)control approach for the model of a tracked robotic *** kinematic model of such a tracked vehicle takes into account slippage effects due to the contact of the track...
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The article proposes a nonlinearoptimal(H-infinity)control approach for the model of a tracked robotic *** kinematic model of such a tracked vehicle takes into account slippage effects due to the contact of the tracks with the *** solve the related control problem,the dynamic model of the vehicle undergoes first approximate linearization around a temporary operating point which is updated at each iteration of the control *** linearization process relies on first-order Taylor series expansion and on the computation of the Jacobian matrices of the state-space model of the *** the approximately linearized description of the tracked vehicle a stabilizing H-infinity feedback controller is *** compute the controller’s feedback gains an algebraic Riccati equation is solved at each time-step of the control *** stability properties of the control scheme are proven through Lyapunov *** is also demonstrated that the control method retains the advantages of linear optimalcontrol,that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs.
The mechanical pulping process is non-linear and multivariable. To solve the related control problem, the dynamic model of the pulping process undergoes first approximate linearization around a temporary operating poi...
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The mechanical pulping process is non-linear and multivariable. To solve the related control problem, the dynamic model of the pulping process undergoes first approximate linearization around a temporary operating point which is updated at each iteration of the control algorithm. The linearization process relies on first-order Taylor series expansion and on the computation of the Jacobian matrices of the state-space model of the pulping process. For the approximately linearized description of the pulping process, a stabilizing H-infinity feedback controller is designed. To compute the controller's feedback gains, an algebraic Riccati equation is solved at each time-step of the control method. The stability properties of the control scheme are proven through Lyapunov analysis.
The article proposes a non-linear optimalcontrol approach for four-wheel omnidirectional mobile robots. The method has been successfully tested so-far on the control problem of several types of autonomous ground vehi...
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