Globally Feedback Linearizable Time-Invariant Systems: Optimal Solution for Mayer’s Problem
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Published:1998-12-10
Issue:2
Volume:122
Page:343-347
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Schlemmer M.1, Agrawal S. K.1
Affiliation:
1. Mechanical Systems Laboratory, Department of Mechanical Engineering, University of Delaware, Newark, DE 19716
Abstract
This paper discusses the optimal solution of Mayer’s problem for globally feedback linearizable time-invariant systems subject to general nonlinear path and actuator constraints. This class of problems includes the minimum time problem, important for engineering applications. Globally feedback linearizable nonlinear systems are diffeomorphic to linear systems that consist of blocks of integrators. Using this alternate form, it is proved that the optimal solution always lies on a constraint arc. As a result of this optimal structure of the solution, efficient numerical procedures can be developed. For a single input system, this result allows to characterize and build the optimal solution. The associated multi-point boundary value problem is then solved using direct solution techniques. [S0022-0434(00)02002-5]
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference9 articles.
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