DocumentCode
2296272
Title
Applications of polynomial controllability to optimal control in linear and nonlinear systems: the vehicle kinematic model case
Author
Ailon, Amit
Author_Institution
Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer Sheva
fYear
2006
fDate
14-16 June 2006
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2006
Conference_Location
Minneapolis, MN
Print_ISBN
1-4244-0209-3
Electronic_ISBN
1-4244-0209-3
Type
conf
DOI
10.1109/ACC.2006.1657549
Filename
1657549
Link To Document