On the optimal control for control systems on manifolds
Project/Area Number |
21760334
|
Research Category |
Grant-in-Aid for Young Scientists (B)
|
Allocation Type | Single-year Grants |
Research Field |
Control engineering
|
Research Institution | Shimane University |
Principal Investigator |
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
Budget Amount *help |
¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2011: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2010: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2009: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
|
Keywords | 非線形制御 / 最適制御 / 数値解法 / Hamilton-Jacobi-Bellman方程式 / 制御 / Lyapunov関数 / 制御理論 / 非線形 / 大域漸近安定化 / 多様体 |
Research Abstract |
This study deals with the global asymptotic stabilization problem and the optimal control problem of nonlinear control system such that the state space is diffeomorphic to a manifold. First, we have investigated a relationship between a stabilizability and a control Lyapunov function. We have shown sufficient conditions for semiconcavity of control Lyapunov functions that are solutions of the Hamilton-Jacobi-Bellman equation of nonlinear optimal regulator problem. Moreover, we have proposed the algorithms for searching the function by using a neural networks and solving the HJB equation.
|
Report
(4 results)
Research Products
(16 results)