A Perturbation Approach to The Optimal Control and The State Estimation of Nonlinear Systems
Date Issued
2004
Date
2004
Author(s)
Yu, Tien-Yu
DOI
zh-TW
Abstract
This thesis studies off-line optimal control and estimation of general nonlinear systems. We use the perturbation method to develop control and estimation alogrithms. Since the perturbed (linearized) system is linear time-varying, we can use linear system theory to solve its control and estimation problem. The simulation results show that the proposed control algorithm is
able to find local optimal controls, and the estimation algorithm works satisfactorily to recover the initial state of the nonlinear system.
Subjects
最佳化控制
遞迴演算法
狀態估測
線性時變系統
optimal control
perturbation
nonlinear system
iteration algorithm
motion planning
Type
thesis
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