Redundancy implies robustness for bang-bang strategies
| Autor: | Antoine Olivier, Thomas Haberkorn, David-Alexis Handschuh, Emmanuel Trélat, Eric Bourgeois |
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| Rok vydání: | 2018 |
| Předmět: |
Physics::General Physics
0209 industrial biotechnology 021103 operations research Control and Optimization Computer science Applied Mathematics 0211 other engineering and technologies 02 engineering and technology Nonlinear control Optimal control Physics::History of Physics General Relativity and Quantum Cosmology Physics::Popular Physics Nonlinear system 020901 industrial engineering & automation Control and Systems Engineering Control theory Robustness (computer science) Control system Redundancy (engineering) Robust control Bang–bang control Software |
| Zdroj: | Optimal Control Applications and Methods. 40:85-104 |
| ISSN: | 0143-2087 |
| DOI: | 10.1002/oca.2468 |
| Popis: | We develop in this paper a method ensuring robustness properties to bang-bang strategies, for general nonlinear control systems. Our main idea is to add bang arcs in the form of needle-like variations of the control. With such bang-bang controls having additional degrees of freedom, steering the control system to some given target amounts to solving an overdeter-mined nonlinear shooting problem, what we do by developing a least-square approach. In turn, we design a criterion to measure the quality of robustness of the bang-bang strategy, based on the singular values of the end-point mapping, and which we optimize. Our approach thus shows that redundancy implies robustness, and we show how to achieve some compromises in practice, by applying it to the attitude control of a 3d rigid body. |
| Databáze: | OpenAIRE |
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