• DocumentCode
    3619140
  • Title

    Data-based optimal control

  • Author

    W. Aangenent;D. Kostic;B. de Jager;R. van de Molengraft;M. Steinbuch

  • Author_Institution
    Dept. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands
  • fYear
    2005
  • fDate
    6/27/1905 12:00:00 AM
  • Firstpage
    1460
  • Abstract
    This paper deals with data-based optimal control. The control algorithm consists of two complementary subsystems, namely a data-based observer and an optimal feedback controller based on the system´s Markov parameters. These parameters can be identified on-line using only input/output data. The effectiveness of the resulting controller is evaluated with a regulation and a tracking control experiment, performed on a direct-drive robot of spatial kinematics.
  • Keywords
    "Optimal control","Adaptive control","Robots","Control design","Feedback control","Predictive models","Predictive control","Observers","Iterative algorithms","Nonlinear control systems"
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 2005. Proceedings of the 2005
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-9098-9
  • Type

    conf

  • DOI
    10.1109/ACC.2005.1470171
  • Filename
    1470171
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3619140