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LQR based optimal co-design for linear control systems with input and state constraints.
- Source :
-
International Journal of Systems Science . Apr2023, Vol. 54 Issue 5, p1136-1149. 14p. - Publication Year :
- 2023
-
Abstract
- This paper considers a constrained co-design problem for linear time-invariant (LTI) systems. With a practical vision of real-world problems, constraints on the control signal and system states are involved in the proposed algorithm. The main goal is to design a sub-optimal controller by simultaneously obtaining the control policy and the model parameters. To this end, the conventional problem of solving the Hamiltonian-Jacobi-Bellman (HJB) equation is transformed into a nonlinear non-convex optimisation problem. Then, by reformulating the constraints of the optimisation problem, it is relaxed into a convex Semi-Definite Programming (SDP). By presenting an iterative method, the control cost, the performance, and the number of iterations are improved compared to conventional methods, and a closer result to the optimal solution is obtained. The performance and efficacy of the proposed algorithm are investigated through a case study on the physical load positioning system. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00207721
- Volume :
- 54
- Issue :
- 5
- Database :
- Academic Search Index
- Journal :
- International Journal of Systems Science
- Publication Type :
- Academic Journal
- Accession number :
- 163410026
- Full Text :
- https://doi.org/10.1080/00207721.2023.2168142