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Journals / Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi / 2023 / Cilt: 38 - Sayı: 4

Optimal control of a class of nonlinear systems using Euler-Lagrange back integration method

Doğrusal olmayan bazı sistem sınıflarının Euler-Lagrange geri integrasyon yöntemi ile optimal denetimi

Orhan AKSOY
Erkan ZERGEROĞLU
Pages
2555–2564
Publication Date
2023-04-12
DOI
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

The generated paths are then utilized in the optimal control loop.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:In this study, an algorithm is presented that aims to extend the use of Euler-Lagrange back integration method to optimal control of linearizable, affine-in-the-input nonlinear systems having more than two states.
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Key Findings & Data:The algorithm generates optimal paths by selecting a starting point iteratively on the ellipsoid close to the equilibrium point, representing the optimal borderline of the linearized system, and backward integrating the optimal nonlinear dynamics.
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Conclusion & Impact:The generated paths are then utilized in the optimal control loop.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Doğrusal olmayan optimal denetim · HJB denklemi · doğrusal girişli doğrusal olmayan sistemler

Abstract

In this study, an algorithm is presented that aims to extend the use of Euler-Lagrange back integration method to optimal control of linearizable, affine-in-the-input nonlinear systems having more than two states. The algorithm generates optimal paths by selecting a starting point iteratively on the ellipsoid close to the equilibrium point, representing the optimal borderline of the linearized system, and backward integrating the optimal nonlinear dynamics. The generated paths are then utilized in the optimal control loop.

Özet

Bu çalışmada, üç veya daha fazla boyutlu, doğrusallaştırılabilen, doğrusal girişli doğrusal olmayan sistemlerin optimal denetimi için Euler-Lagrange geri integrasyon yönteminin kullanımını geliştiren bir algoritma sunulmuştur. Algoritma, doğrusallaştırılmış sistemin sınırını temsil eden, denge noktasının yakınındaki bir hiper elipsoit üzerinde tekrarlı şekilde başlangıç koşulu seçerek doğrusal olmayan optimal dinamik üzerinde geri integrasyon yöntemini uygulamakta ve optimal yolları oluşturmaktadır. Daha sonra, bu optimal yollar optimal geri beslemede kullanılmaktadır.

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Cite This Article

AKSOY, O., ZERGEROĞLU, E. (2023). Optimal control of a class of nonlinear systems using Euler-Lagrange back integration method. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, Cilt: 38 - Sayı: 4, 2555–2564. https://ajindex.com/articles/886100

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