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Online Control Customization via Optimization-Based Control |
Abstract |
In this chapter, we present a framework fo … In this chapter, we present a framework for online control customization that
makes use of finite-horizon, optimal control combined with real-time
trajectory generation and optimization. The results are based on a novel
formulation of receding-horizon optimal control that replaces the traditional
terminal constraints with a control Lyapunov function-based terminal cost.
This formulation leads to reduced computational requirements and allows proof
of stability under a variety of realistic assumptions on computation. By
combining these theoretical advances with advances in computational power for
real-time, embedded systems, we demonstrate the efficacy of online control
customization via optimization-based control. The results are demonstrated
using a nonlinear, flight control experiment at Caltech. ear, flight control experiment at Caltech. +
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Authors | Richard M. Murray et al. + |
ID | 2001n + |
Source | In <i>Software-Enabled Control: Information Technology for Dynamical Systems</i>, T. Samad and G. Balas (eds.), IEEE Press, 2001 (submitted) + |
Tag | mur+03-sec + |
Title | Online Control Customization via Optimization-Based Control + |
Type | Book Chapter + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:09 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/mur+03-sec.pdf + |
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Online Control Customization via Optimization-Based Control + | Title |
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