DECOMPOSITION AND SUBOPTIMAL CONTROL IN DYNAMIC-SYSTEMS

被引:0
作者
CHERNOUSKO, FL [1 ]
机构
[1] RUSSIAN ACAD SCI,INST APPL MATH,MOSCOW,RUSSIA
关键词
MANIPULATION ROBOT; SWITCHINGS FUNCTION; DIFFERENTIAL GAME; LAGRANGE EQUATIONS;
D O I
暂无
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
The problem of synthesizing a control for a dynamic system described by Lagrange equations which steers the system in finite time from an arbitrary initial state to a specified zero-speed terminal state is solved. Constraints are imposed on the generalized controlling forces. An effective approach based on a decomposition of the original system and the application of the methods of optimal control and differential games theory is proposed for constructing the control.
引用
收藏
页码:164 / 170
页数:7
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