A quadratic programming solution of the minimum energy control problem

Blum, Stuart F.; Fegley, K. A.

doi:10.1109/tac.1968.1098879

Cited by 5 publications

(1 citation statement)

References 2 publications

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“…The technique is very simple-the closed-loop transfer function H = 1/(1 + PC) is designed, subject to the requirement that it must vanish at every unstable pole of the plant and equal one at every unstable zero of the plant. These conditions guarantee that the controller C = (1 -H ) / P H yields a closed- [SI,and [4], inspired by a paper by Zadeh and Whalen [39]. Some of these papers, for example [29], propose a controller design method which is not far from the method we describe here.…”

Section: Introductionmentioning

confidence: 98%

A new CAD method and associated architectures for linear controllers

Boyd

Balakrishnan

Barratt

et al. 1988

IEEE Trans. Automat. Contr.

226

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A bstract-A new CAD method and associated architectures are proposed for linear controllers. The design method and architecture are based on recent results which parameterize all controllers which stabilize a given plant. With this architecture, the design of controllers is a convex programming problem which can be solved numerically.Constraints on the closed-loop system such as asymptotic tracking, decoupling, limits on peak excursions of variables, step response, settling time, and overshoot, as well as frequency domain inequalities are readily incorporated in the design. The minimization objective is quite general, with LQG, H,, and new I, types as special cases.The constraints and objective are specified in a control specijiication language which is natural for the control engineer, referring directly to step responses, noise powers, transfer functions, and so on. This control specification language will be the input to a compiler which will translate the specifications into a standard convex program in RL, which is then solved by some numerical convex program solver. A small but powerful subset of the language has been specified and its associated compiler implemented.The architecture proposed simplifies not only design of the controller but also its implementution. These controllers can be built right now from off the shelf components or integrated using standard VLSI cells.

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Section: Introductionmentioning

confidence: 98%

A new CAD method and associated architectures for linear controllers

Boyd

Balakrishnan

Barratt

et al. 1988

IEEE Trans. Automat. Contr.

226

View full text Add to dashboard Cite

show abstract

Nonparametric Bayes error estimation using unclassified samples

Fukunaga

Kessell²

1972

Proceedings of the 1972 IEEE Conference on Decision and Control and 11th Symposium on Adaptive Processes

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Optimal trajectory planning of robotic manipulators via quasi-linearization and state parametrization

Yen

Nagurka

Proceedings, 1989 International Conference on Robotics and Automation

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This paper develops a methodology for trajectory planning of robotic manipulators. The trajectory planning problem, cast as an unconstrained nonlinear optimal control problem. is converted into a sequence of linear quadratic (LQ) optimal control problems via quasi-linearization. Each of the LQ problems is solved via Fourier-based state parameterization. In contrast to variational methods and dynamic programming, the approach is computationally eficient and guarantees a near optimal solution that satisfies terminal conditions.

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A quadratic programming solution of the minimum energy control problem

Cited by 5 publications

References 2 publications

A new CAD method and associated architectures for linear controllers

A new CAD method and associated architectures for linear controllers

Nonparametric Bayes error estimation using unclassified samples

Optimal trajectory planning of robotic manipulators via quasi-linearization and state parametrization

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