Implementation of the New Control Methods in Simplification of a Multidimensional Control and Optimization of a Control System Parameters
Data
2015
Tytuł czasopisma
ISSN czasopisma
Tytuł tomu
Wydawca
Wydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiej
Lodz University of Technology. Press ; Division of Dynamics - Faculty of Mechanical Engineering, Lodz University of Technology
Lodz University of Technology. Press ; Division of Dynamics - Faculty of Mechanical Engineering, Lodz University of Technology
Abstrakt
The main purpose of this text is to present application of the Largest Lyapunov Exponent
(LLE) as a criterion for optimization of the new type of simple controller parameters. Investigated
controller is the part of numerically simulated control system. The calculation
of LLE was done with a new method [2].
Introduction contains reference to previous publications on inverted pendulum control
and Lyapunov stability. Application of the new simple formula for LLE estimation
in control systems is discussed. In the next part simulated dynamical system is described
and new type of simple controller allowing to control multidimensional system is
introduced. In the last part results of the simulation are shown along with conclusions
to whole dynamics analysis. Comparison of the proposed regulator with the linearquadratic
regulator (LQR) was verified and its better effectiveness with respect to LQR
was proved.
Opis
Słowa kluczowe
largest Lyapunov exponent, robot control, stability, nonlinear dynamics, największy wykładnik Lapunowa, sterowanie robotem, stabilność, dynamika nieliniowa
Cytowanie
Mechanics and Mechanical Engineering, Vol. 19, No. 2, 2015, s. 127-139