Title :
Constrained optimal control theory for differential linear repetitive processes
Author :
Dymkov, Michael ; Rogers, Eric ; Dymkou, Siarhei ; Galkowski, Krzysztof
Author_Institution :
Belarus State Economic Univ., Minsk, Belarus
Abstract :
Differential repetitive processes are a distinct class of continuous-discrete two-dimensional linear systems of both systems theoretic and applications interest. These processes complete a series of sweeps termed passes through a set of dynamics defined over a finite duration known as the pass length, and once the end is reached the process is reset to its starting position before the next pass begins. Moreover the output or pass profile produced on each pass explicitly contributes to the dynamics of the next one. Applications areas include iterative learning control and iterative solution algorithms, for classes of dynamic nonlinear optimal control problems based on the maximum principle, and the modeling of numerous industrial processes such as metal rolling, longwall cutting, etc. In this paper we develop substantial new results on optimal control of these processes in the presence of constraints where the cost function and constraints are motivated by practical application of iterative learning control to robotic manipulators and other electromechanical systems. The analysis is based on generalizing the well-known maximum and ¿-maximum principles to them.
Keywords :
continuous systems; discrete systems; iterative methods; learning (artificial intelligence); linear systems; manipulators; optimal control; continuous-discrete 2D linear systems; differential linear repetitive processes; electromechanical systems; industrial processes; iterative learning control; iterative solution algorithms; optimal control; robotic manipulators; Constraint theory; Control systems; Cost function; Electrical equipment industry; Industrial control; Iterative algorithms; Linear systems; Metals industry; Optimal control; Robot control;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739492