제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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- Pages.1060-1065
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- 1990
A method of nonlinear optimal regulator using a Liapunov-like function
- Kawabata, Hiroaki (Department of Electrical Engineering, College of Engineering, Univ. of Osaka Prefecture) ;
- Shirao, Yoshiaki (Department of Electrical Engineering, College of Engineering, Univ. of Osaka Prefecture) ;
- Nagahara, Toshikuni (Department of Electrical Engineering, College of Engineering, Univ. of Osaka Prefecture) ;
- Inagaki, Yoshio (Department of Electrical Engineering, College of Engineering, Univ. of Osaka Prefecture)
- 발행 : 1990.10.01
초록
In general it is difficult to determine a Liapunov function for a given asymptotically stable, nonlinear differential equations system. But, in the system with control inputs, it is feasible to make a given positive function, except for a small area, globally satisfy the conditions of the Liapunov function for the system. We call such a positive function a Liapunov-like function, and propose a method of nonlinear optimal regulator using this Liapunov-like function. We also use the periodic Liapuitov-like friction that suits the system whose equilibrium points exist periodically. The relationship between the Liapunov function and cost function which this nonlinear regulator minimizes is considered using inverse optimal method.
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