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
fDate :
6/27/1905 12:00:00 AM
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"
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
DOI :
10.1109/ACC.2005.1470171
