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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.  +
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
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15 May 2016 06:19:09  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mur+03-sec.pdf  +
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