Title :
Adaptive control of nonholonomic systems based on inverse optimality
Author :
Miyasato, Yoshihiko
Author_Institution :
Inst. of Stat. Math., Tokyo, Japan
Abstract :
Design methods of adaptive control of uncertain nonholonomic systems are presented based on the notion of inverse optimality. The proposed methodologies are applied to chained systems of high orders, and the controller designs by both state and output feedbacks are shown. It is seen that the resulting control strategies are optimal to certain meaningful cost functionals.
Keywords :
adaptive control; control system synthesis; nonlinear control systems; optimal control; state feedback; uncertain systems; adaptive control; chained systems; controller design; cost functionals; inverse optimality; output feedback; state feedback; uncertain nonholonomic systems;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
