제어로봇시스템학회:학술대회논문집
- 1990.10b
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- Pages.1049-1054
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- 1990
A new approach to the optimal control problem including trajectory sensitivity
- Ishihara, Tadashi (Dept. of Mechanical Engineering, Tohoku Univ.) ;
- Miyauchi, Takashi (Toshiba Corporation) ;
- Inooka, Hikaru (Dept. of Mechanical Engineering, Tohoku Univ.)
- Published : 1990.10.01
Abstract
We formulate optimal quadratic regulator problems with trajectory sensitivity terms as a optimization problem for a fixed controller structure. Using well-known techniques for parametric LQ problems, we give an algorithm to obtain suboptimal feedback gains by iterative solutions of two Lyapunov equations. A numerical example is given to illustrate the effectiveness of the proposed algorithm.
Keywords