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Computation of feedback control for time optimal state transfer using Groebner basis

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Title Computation of feedback control for time optimal state transfer using Groebner basis
 
Creator PATIL, D
MULLA, A
CHAKRABORTY, D
PILLAI, H
 
Subject CONSTRAINED LINEAR-SYSTEMS
BASES
Time optimal control
Feedback
Groebner basis
Limit cycle
 
Description Computation of time optimal feedback control law for a controllable linear time invariant system with bounded inputs is considered. Unlike a recent paper by the authors, the target final state is not limited to the origin of state-space, but is allowed to be in the set of constrained controllable states. Switching surfaces are formulated as semi-algebraic sets using Groebner basis based elimination theory. Using these semi-algebraic sets, a nested switching logic is synthesized to generate the time optimal feedback control. However, the optimal control law enforces an unavoidable limit cycle in the time-optimal trajectory for most non-origin target points. The time-period of this limit-cycle is dependent on the target position. This dependence is algebraically characterized and a method to compute the time-period of the limit-cycle is provided. As a natural extension, the set of constrained controllable states is also computed. (C) 2015 Elsevier B.V. All rights reserved.
 
Publisher ELSEVIER SCIENCE BV
 
Date 2016-01-15T05:48:59Z
2016-01-15T05:48:59Z
2015
 
Type Article
 
Identifier SYSTEMS & CONTROL LETTERS, 79,1-7
0167-6911
1872-7956
http://dx.doi.org/10.1016/j.sysconle.2015.02.003
http://dspace.library.iitb.ac.in/jspui/handle/100/17855
 
Language en