Optimal Control of Sun Tracking Solar Concentrators

1979 ◽  
Vol 101 (2) ◽  
pp. 157-161 ◽  
Author(s):  
R. O. Hughes
Keyword(s):  
Optimal Control ◽  
Computer Simulation ◽  
Control Theory ◽  
Tracking Control ◽  
Tracking Problem ◽  
Solar Concentrator ◽  
Solar Concentrators ◽  
Pointing Error ◽  
Modern Control Theory ◽  
Optimal Tracking

Using the disciplines of Modern Control Theory, an optimal tracking control for a point focusing solar concentrator is derived. By converting the tracking problem into a regulator problem with a sun rate input a very low pointing error is achieved. A representative example with a corresponding computer simulation is presented.

scholarly journals Decentralized Reinforcement Learning Robust Optimal Tracking Control for Time Varying Constrained Reconfigurable Modular Robot Based on ACI andQ-Function

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Bo Dong ◽  
Yuanchun Li
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Control Theory ◽  
Continuous Time ◽  
Tracking Control ◽  
Control Policy ◽  
Time Varying ◽  
Optimal Tracking ◽  
Tracking Controller ◽  
Global Uncertainty

A novel decentralized reinforcement learning robust optimal tracking control theory for time varying constrained reconfigurable modular robots based on action-critic-identifier (ACI) and state-action value function (Q-function) has been presented to solve the problem of the continuous time nonlinear optimal control policy for strongly coupled uncertainty robotic system. The dynamics of time varying constrained reconfigurable modular robot is described as a synthesis of interconnected subsystem, and continuous time state equation andQ-function have been designed in this paper. Combining with ACI and RBF network, the global uncertainty of the subsystem and the HJB (Hamilton-Jacobi-Bellman) equation have been estimated, where critic-NN and action-NN are used to approximate the optimalQ-function and the optimal control policy, and the identifier is adopted to identify the global uncertainty as well as RBF-NN which is used to update the weights of ACI-NN. On this basis, a novel decentralized robust optimal tracking controller of the subsystem is proposed, so that the subsystem can track the desired trajectory and the tracking error can converge to zero in a finite time. The stability of ACI and the robust optimal tracking controller are confirmed by Lyapunov theory. Finally, comparative simulation examples are presented to illustrate the effectiveness of the proposed ACI and decentralized control theory.

scholarly journals Online Optimal Control of Robotic Systems with Single Critic NN-Based Reinforcement Learning

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-7
Author(s):  
Xiaoyi Long ◽  
Zheng He ◽  
Zhongyuan Wang
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Tracking Control ◽  
Learning Algorithm ◽  
Tracking Error ◽  
Adaptive Dynamic Programming ◽  
Robotic Systems ◽  
Control Synthesis ◽  
Optimal Tracking ◽  
Optimal Tracking Control

This paper suggests an online solution for the optimal tracking control of robotic systems based on a single critic neural network (NN)-based reinforcement learning (RL) method. To this end, we rewrite the robotic system model as a state-space form, which will facilitate the realization of optimal tracking control synthesis. To maintain the tracking response, a steady-state control is designed, and then an adaptive optimal tracking control is used to ensure that the tracking error can achieve convergence in an optimal sense. To solve the obtained optimal control via the framework of adaptive dynamic programming (ADP), the command trajectory to be tracked and the modified tracking Hamilton-Jacobi-Bellman (HJB) are all formulated. An online RL algorithm is the developed to address the HJB equation using a critic NN with online learning algorithm. Simulation results are given to verify the effectiveness of the proposed method.

scholarly journals Nonlinear Optimal Control Law of Autonomous Unmanned Surface Vessels

2020 ◽  
Vol 10 (5) ◽  
pp. 1686
Author(s):  
Yung-Yue Chen ◽  
Chun-Yen Lee ◽  
Shao-Han Tseng ◽  
Wei-Min Hu
Keyword(s):  
Optimal Control ◽  
Closed Form ◽  
Closed Form Solution ◽  
Nonlinear Optimal Control ◽  
Form Solution ◽  
Control Law ◽  
Tracking Problem ◽  
Optimal Tracking ◽  
Surface Vessels ◽  
Marine Surface

For energy conservation, nonlinear-optimal-control-law design for marine surface vessels has become a crucial ocean technology for the current ship industry. A well-controlled marine surface vessel with optimal properties must possess accurate tracking capability for accomplishing sailing missions. To achieve this design target, a closed-form nonlinear optimal control law for the trajectory- and waypoint-tracking problem of autonomous marine surface vessels (AUSVs) is presented in this investigation. The proposed approach, based on the optimal control concept, can be effectively applied to generate control commands on marine surface vessels operating in sailing scenarios where ocean environmental disturbances are random and unpredictable. In general, it is difficult to directly obtain a closed-form solution from this optimal tracking problem. Fortunately, by having the adequate choice of state-variable transformation, the nonlinear optimal tracking problem of autonomous marine surface vessels can be converted into a solvable nonlinear time-varying differential equation. The solved closed-form solution can also be acquired with an easy-to-implement control structure for energy-saving purposes.

Experimental Study on Optimal Tracking Control of a Micro Ground Vehicle

2017 ◽  
Vol 29 (4) ◽  
pp. 757-765 ◽  
Author(s):  
Soichiro Watanabe ◽  
◽  
Masanori Harada
Keyword(s):  
Experimental Study ◽  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Predictive Control ◽  
Tracking Control ◽  
Reference Trajectory ◽  
Ground Vehicle ◽  
Optimal Tracking ◽  
Tracking Controller

This paper investigates the application of optimal control to a micro ground vehicle (MGV) experimentally. The model predictive control (MPC) technique is used for the overall tracking controller during the maneuver. The reference trajectory for MPC is preliminarily obtained by numerical computation of the optimal control problem, which is prescribed as a minimum-time maneuver. The results provide nominal tracking performance and validate the feasibility of the approach.

Optimal Tracking Control of Multi-Zone Indoor Environmental Spaces

1995 ◽  
Vol 117 (3) ◽  
pp. 292-303 ◽  
Author(s):  
M. Zaheer-uddin ◽  
R. V. Patel
Keyword(s):  
Optimal Control ◽  
Tracking Control ◽  
Control Law ◽  
Closed Loop System ◽  
Order Model ◽  
Fast Subsystem ◽  
Reduced Order ◽  
Optimal Tracking ◽  
Optimal Tracking Control ◽  
Slow Subsystem

Optimal control of indoor environmental spaces is explored. A physical model of the system consisting of a heating system, a distribution system and an environmental zone is considered and a seventh order bilinear system model is developed. From the physical characteristics and open-loop response of the system, it is shown that the overall system consists of a fast subsystem and a slow subsystem. By including the effects of the slow subsystem in the fast subsystem, a reduced order model is developed. An optimal control law is designed based on the reduced order model and it is implemented on the full order nonlinear system. Both local and global linearization techniques are used to design optimal control laws. Results showing the disturbance rejection characteristics of the resulting closed-loop system are presented. The use of optimal tracking control to implement large changes in setpoints, in a prescribed manner, is also examined. A general model to describe environmental zones is proposed and its application to multi-zone spaces is illustrated. A multiple-input optimal tracking control law with output error integrators is designed. The resulting closed-loop system response to step-like disturbances is shown to be good.

Optimal Tracking Control for Discrete-time Systems with Time-delay Based on the Preview Control Method

2019 ◽  
Vol 7 (5) ◽  
pp. 452-461
Author(s):  
Haishan Xu ◽  
Fucheng Liao
Keyword(s):  
Optimal Control ◽  
Time Delay ◽  
Discrete Time ◽  
Tracking Control ◽  
Control Method ◽  
Reference Signal ◽  
Control Law ◽  
Preview Control ◽  
Optimal Tracking ◽  
Delayed System

Abstract In this paper, the optimal tracking control problem for discrete-time with state and input delays is studied based on the preview control method. First, a transformation is introduced. Thus, the system is transformed into a non-delayed system and the tracking problem of the time-delay system is transformed into the regulation problem of a non-delayed system via processing of the reference signal. Then, by applying the preview control theory, an augmented system for the non-delayed system is derived, and a controller with preview function is designed, assuming that the reference signal is previewable. Finally, the optimal control law of the augmented error system and the optimal control law of the original system are obtained by letting the preview length of the reference signal go to zero.

Dynamic Walk of a Quadruped Locomotion Robot Using Robust Optimal Tracking Control

1995 ◽  
Author(s):  
Hiroaki Uchida ◽  
Kenzo Nonami
Keyword(s):  
Optimal Control ◽  
High Frequency ◽  
Tracking Control ◽  
Control Method ◽  
Reaction Force ◽  
The Body ◽  
High Frequency Vibration ◽  
Quadruped Locomotion ◽  
Optimal Tracking ◽  
Optimal Tracking Control

Abstract We propose a new control system design strategy that is called “frequency-shaped optimal tracking control method” in this paper. We make sure that the proposed method is very useful by creating the quasi-dynamic walk of a quadruped locomotion robot. During control of the locomotion robot, high feedback (FB) gains should be selected to work against the force and the moment from the body and the reaction force from the ground. However, if high FB gains are used, high frequency vibration comes out because of the backlash of the gear. Frequency-shaped optimal control is the control method to improve the robustness against the disturbance like high frequency vibration. Frequency-shaped optimal tracking control extends the frequency-shaped optimal control to the servo system like the trajectory following control of the robot. First, we’ll show the design scheme of the frequency-shaped optimal tracking control. Next, we’ll show how decentralized control is realized in order to apply frequency-shaped optimal tracking control. Finally, we’ll compare the frequency-shaped optimal tracking control with the optimal tracking control from the points of view of the simulations and the experiments.

scholarly journals Optimal controller design based on minimum principle

2018 ◽  
Vol 173 ◽  
pp. 01001
Author(s):  
Huang Da ◽  
Huang ShuCai
Keyword(s):  
Optimal Control ◽  
Control Theory ◽  
Optimal Control Theory ◽  
Controller Design ◽  
Minimum Principle ◽  
Adaptive Controller ◽  
Control Effect ◽  
Modern Control Theory ◽  
Important Position ◽  
The Ideal

Optimal control theory is the foundation of the modern control theory, the minimum principle in optimal control theory has a very important position, using the minimum principle to design an adaptive controller, the controller integration advantages of the principle of minimum is not affected by the control system of linear or nonlinear constraints, and the end state and free time, is accused of quantity can be controlled and are free to wait for a characteristic, using the minimum controller application example and simulation, the results show that the minimum principle of the designed controller has the ideal control effect.

Optimal Tracking Control of a Micro Ground Vehicle

2015 ◽  
Vol 27 (6) ◽  
pp. 653-659 ◽  
Author(s):  
Soichiro Watanabe ◽  
◽  
Masanori Harada
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Coordinate System ◽  
Predictive Control ◽  
Tracking Control ◽  
Minimum Time ◽  
Reference Trajectory ◽  
Ground Vehicle ◽  
Optimal Tracking

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270006/07.jpg"" width=""300"" /> Coordinate system of MGV</div>This paper investigates the application of optimal micro ground vehicle (MGV) control involving overall tracking by model-predictive control (MPC) during a minimum-time maneuver. The MPC’s reference trajectory is obtained beforehand by numerically calculating an optimal control problem described as a minimum-time maneuver. Results provide nominal tracking performance and confirm the feasibility of our approach.

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