Abstract:
A new method for real-time calculation of constrained nonlinear optimal control problems is proposed. The proposed method is based on the iterative algorithms for obtaini...Show MoreMetadata
Abstract:
A new method for real-time calculation of constrained nonlinear optimal control problems is proposed. The proposed method is based on the iterative algorithms for obtaining the numerical solutions of optimal control problems. In this paper, we adopt the Riccati-equation based algorithm, one of the iterative algorithms, and demonstrate the proposed 'algorithmic controller' is applicable to the swing-up problem of an inverted pendulum, where fast-sampling is required and voltage-constraint is imposed
Date of Conference: 28-31 August 2005
Date Added to IEEE Xplore: 19 September 2005
Print ISBN:0-7803-9354-6
Print ISSN: 1085-1992