An efficient algorithm for computing the state feedback optimal control law for discrete time hybrid systems

2004 ◽  
Author(s):  
F. Borrelli ◽  
M. Baotic ◽  
A. Bemporad ◽  
M. Morari
Keyword(s):  
Optimal Control ◽  
Hybrid Systems ◽  
Discrete Time ◽  
Efficient Algorithm ◽  
State Feedback ◽  
The State ◽  
Control Law ◽  
Feedback Optimal Control

Vibration Control of the Elastodynamic Response of High-Speed Flexible Linkage Mechanisms

1991 ◽  
Vol 113 (1) ◽  
pp. 14-21 ◽  
Author(s):  
C. K. Sung ◽  
Y. C. Chen
Keyword(s):  
Optimal Control ◽  
High Speed ◽  
State Feedback ◽  
Control Law ◽  
Luenberger Observer ◽  
Control Scheme ◽  
Feedback Optimal Control ◽  
Optimal Control Scheme ◽  
Observation Spillover ◽  
Flexible Linkage

A methodology for suppressing the elastodynamic responses of high-speed flexible linkage mechanisms by employing a state feedback optimal control scheme is proposed. This permits the mechanisms to be subjected to controlled dynamic inputs generated by several pairs of suitably-selected piezoelectric ceramics while additional piezoceramics are utilized as sensing devices. This optimal control scheme includes a feedback control law and a Luenberger observer. The instabilities caused by the combined effect of control and observation spillover are investigated and carefully prevented. Finally, numerical simulation is performed to evaluate the improvement of the elastodynamic responses.

Feedforward and Feedback Optimal Control of Autonomous Profiling Monitoring Underwater Vehicle with Disturbance

2014 ◽  
Vol 602-605 ◽  
pp. 970-973 ◽  
Author(s):  
Hua Mu ◽  
Jian Yuan
Keyword(s):  
Optimal Control ◽  
Linear System ◽  
Feedback Linearization ◽  
Vertical Plane ◽  
Underwater Vehicle ◽  
Linearization Method ◽  
Control Law ◽  
Control Scheme ◽  
System States ◽  
Feedback Optimal Control

The optimal control of autonomous profiling monitoring underwater vehicle (APMUV) is investigated. Firstly, dynamics equations in vertical plane with disturbances are constructed, and the equations are converted into a linear system by feedback linearization method and then feedforward and feedback optimal control (FFOC) law is designed for the linear system. To solve the unpractical problem of the control law, we construct a disturbance observer to observe the system states to make a quick convergance of the observed system states. Numerical simulations show the effectiveness of the control scheme

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