エネルギ収支に着目した新しい最適制御理論の構築とその適用

概要

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A Newly developed optimal control theory based on energy equation is introduced. The point of this theory is to utilize the self solving mechanism which is included in closed loop systems as a general characteristic. For this-purpose, the energy equation of controlled system is focused on. In this method, the functional consists of total energy of controlled system, performance function and energy function. This energy function is described by energy flow which is transmitted from controller to controlled system. Being shown as a first-order expression concerning control variables, the functional is able to induce the optimal system equation from the condition which minimizes the functional. Then optimal control is realized by putting the optimal equation into a closed loop system without solving the equation. This method is useful for nonlinear mechanical control systems because real time control can be realized by this method. Appling this theory to concrete problems, it is clarified that this theory is extremely appropriate for the optimal control of the systems with complex dispersion structures and the nonholonomic systems whose criteria functions are described by complex forms.
日本応用数理学会の論文
2007-06-26