Title :
Applications of polynomial controllability to optimal control in linear and nonlinear systems: the vehicle kinematic model case
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer Sheva
Abstract :
Previous studies have established the concept of polynomial controllability in linear time-invariant systems. This paper considers further this concept with regard to optimal control problems. Using this concept we present a simple procedure for searching a control function that minimizes a quadratic performance measure for vehicle motion control
Keywords :
controllability; matrix algebra; motion control; nonlinear control systems; optimal control; performance index; quadratic programming; road vehicles; control function; linear time-invariant systems; nonlinear systems; optimal control; polynomial controllability; quadratic performance measure minimization; vehicle kinematic model; vehicle motion control; Computer aided software engineering; Control systems; Controllability; Equations; Kinematics; Motion control; Nonlinear systems; Optimal control; Polynomials; Vehicles;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657549
