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SINGULARITY COMPUTATION FOR ITERATIVE CONTROL OF NONLINEAR AFFINE SYSTEMS
Author(s) -
Popa Dan O.,
Wen John T.
Publication year - 2000
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2000.tb00146.x
Subject(s) - invertible matrix , nonlinear system , affine transformation , control theory (sociology) , nonholonomic system , convergence (economics) , computation , singularity , mathematics , iterative method , iterative learning control , computer science , algorithm , control (management) , artificial intelligence , mathematical analysis , robot , pure mathematics , physics , quantum mechanics , economics , mobile robot , economic growth
This paper considers a gradient type of iterative algorithm applied to the open loop control for nonlinear affine systems. The convergence of the algorithm relies on the control signal in each iteration be nonsingular. We present an algorithm for computing the singular control for a general class of nonlinear affine systems. Various nonlinear mechanical systems, including nonholonomic systems, are included as examples.