作为功能最小化问题的机械系统控制目标的说明

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI:10.1109/MMAR.2012.6347817

Pawel Cesar Sanjuan Szklarz, E. Jarzębowska

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引用次数: 0

摘要

提出了李亚普诺夫理论与力学模型控制之间的一种新的关系。目标函数是建立在独立于控制模型的机械系统几何结构的基础上的。然后，控制任务与系统轨迹上的功能最小化问题相关。结果表明，这类最小化问题与Lyapunov条件严格相关。

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Specification of control goals for mechanical systems as function minimization problem

A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly related to the Lyapunov condition.

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2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)

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