Temat: Hamilton-Jacobi inequality - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Robust neural networks control of omni-mecanum wheeled robot with Hamilton-Jacobi inequality
Autorzy:: Hendzel, Z.
Powiązania:: https://bibliotekanauki.pl/articles/280641.pdf
Data publikacji:: 2018
Wydawca:: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:: mechatronics
mobile robot
mecanum wheels
Hamilton-Jacobi inequality
Opis:: This paper presents a novel approach to the problem of controlling mechanical objects of unspecified description, considering variable operating conditions. The controlled object is a mobile robot with mecanum wheels (MRK M). To solve the control task, taking into account compensation for nonlinearity and the object variable operating conditions, the Lyapunov stability theory is applied, including the Hamilton-Jacobi (HJ) inequality. A neural network with basic sigmoid functions is used to compensate for the nonlinearity and variable operating conditions of the robot. A simulation example is provided in order to evaluate the analytical considerations. The simulation results obtained confirmed high accuracy of the predicted robot motion in variable operating conditions.
Źródło:: Journal of Theoretical and Applied Mechanics; 2018, 56, 4; 1193-1204
1429-2955
Pojawia się w:: Journal of Theoretical and Applied Mechanics
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Dual sufficient optimality conditions for optimal control
Autorzy:: Młynarska, E.
Powiązania:: https://bibliotekanauki.pl/articles/205961.pdf
Data publikacji:: 2001
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: minimum względne
nierówność podwójna Hamiltona-Jacobiego
zagadnienie sterowania optymalnego
dual Hamilton-Jacobi inequality
dual sufficient optimality conditions
optimal control problem
relative minimum
Opis:: In this paper we develop the first and second order dual sufficient optimality conditions for a nonlinear optimal control problem. Our conditions are derived from the dual Hamilton-Jacobi approach applied to the generalized problem of Bolza. We do not require neither any convexity on the data, nor that the control set U be polyhedral, nor that the control function be in the interior of U. Instead, we assume the existence of a function which satisfies a certain inequality.
Źródło:: Control and Cybernetics; 2001, 30, 1; 45-54
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

Artykuł

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