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ID 34803
file
creator
Fujimoto, Kenji
subject
Nonlinear control
Hamiltonian systems
Iterative learning control
Repetitive control
NDC
Mechanical engineering
abstract
This paper is concerned with repetitive control of Hamiltonian systems, which is based on iterative learning control utilizing the variational symmetry of those systems. Variational symmetry allows us to obtain an algorithm to solve a certain class of optimal control problems in a repetitive control framework. Therefore, the proposed method can deal with not only trajectory tracking control problems but also optimal trajectory generation problems, never before considered in a repetitive control framework. A convergence analysis of this algorithm is also discussed. Furthermore, some numerical simulations demonstrate the effectiveness of the proposed method.
journal title
Systems & Control Letters
volume
Volume 60
issue
Issue 9
start page
763
end page
770
date of issued
2011
publisher
Elsevier Science BV
issn
0167-6911
ncid
publisher doi
language
eng
nii type
Journal Article
HU type
Journal Articles
DCMI type
text
format
application/pdf
text version
author
rights
This is a preprint of an article submitted for consideration in Systems & Control Letters (c) 2011 Elsevier B.V. ; Systems & Control Letters are available online at ScienceDirect with the open URL of your article;
relation url
department
Graduate School of Engineering