Repetitive control of Hamiltonian systems based on variational symmetry
Systems & Control Letters Volume 60 Issue 9
Page 763-770
published_at 2011
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| File | |
| Title ( eng ) |
Repetitive control of Hamiltonian systems based on variational symmetry
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| Creator |
Fujimoto Kenji
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| Source Title |
Systems & Control Letters
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| Volume | 60 |
| Issue | 9 |
| Start Page | 763 |
| End Page | 770 |
| 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.
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| Keywords |
Nonlinear control
Hamiltonian systems
Iterative learning control
Repetitive control
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| NDC |
Mechanical engineering [ 530 ]
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| Language |
eng
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| Resource Type | journal article |
| Publisher |
Elsevier Science BV
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| Date of Issued | 2011 |
| 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;
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| Publish Type | Author’s Original |
| Access Rights | open access |
| Source Identifier |
[ISSN] 0167-6911
[DOI] 10.1016/j.sysconle.2011.04.025
[NCID] AA10625747
[DOI] http://dx.doi.org/10.1016/j.sysconle.2011.04.025
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