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Decomposition and suboptimal control in dynamic systems
Author(s) -
Chernousko F. L.
Publication year - 1993
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.4660140205
Subject(s) - control theory (sociology) , bounded function , decomposition , control (management) , differential (mechanical device) , differential game , state (computer science) , mathematics , control system , computer science , robust control , motion control , robot , mathematical optimization , engineering , algorithm , mathematical analysis , artificial intelligence , ecology , electrical engineering , biology , aerospace engineering
A non‐linear dynamic system subject to bounded control forces is considered. It is shown that under certain conditions the feedback control can be chosen in such a way that the system reaches the prescribed terminal state in finite time. This control is obtained through decomposition of the system into subsystems with one degree of freedom each and applying the approach of differential games. Explicit formulae for the bounded control forces and the time of motion are presented. The obtained control is robust and can cope with small disturbances and parameter variations. Applications to robot control are discussed. The obtained feedback control is compared with another one which does not take small non‐linearities and disturbances into account.