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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Title ( eng )
Repetitive control of Hamiltonian systems based on variational symmetry
Creator
Fujimoto Kenji
Source Title
Systems & Control Letters
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.
Keywords
Nonlinear control
Hamiltonian systems
Iterative learning control
Repetitive control
NDC
Mechanical engineering [ 530 ]
Language
eng
Resource Type journal article
Publisher
Elsevier Science BV
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;
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