Optimal Control of Chain of Integrators with Constraints
L. Bláha, M. Schlegel, J. Mošna
University of West Bohemia in Pilsen
Abstract
Limitations on control signals and magnitudes of state variables as velocity and acceleration are common requirement in motion control applications. It is well known that time optimal control problem for a chain of integrators with bounded input leads to "bang-bang" control strategy and can be converted to finding real solutions of a system of polynomial equations. The similar result is missing for the problem when magnitude constraints on the state of all integrators in the chain except the last one are added. The paper introduces a new solution of this problem which is based on the theory of Gröbner bases.
Full paper
Session
Linear and Non-linear Control System Design (Lecture)
Reference
Bláha, L., Schlegel, M., Mošna, J.: Optimal Control of Chain of Integrators with Constraints. Editors: Fikar, M., Kvasnica, M., In Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, Slovakia, 51–56, 2009
BibTeX
| @inProceedings{pc09-074, | ||
| author | = { | Bláha, L. and Schlegel, M. and Mošna, J.}, |
| title | = { | Optimal Control of Chain of Integrators with Constraints}, |
| booktitle | = { | Proceedings of the 17th International Conference on Process Control '09}, |
| year | = { | 2009}, |
| pages | = { | 51-56}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Štrbské Pleso, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc09/data/papers/074.pdf}} |