Solving the Minimax Open-Loop Control Problem for Carrier Rocket Fuel Consumption

The performance of speed regulating is very important to the mixing process with safe, efficient operation and high quality of production. Strategies and practices of responses and optimization of a PID-based speed regulating system of a planetary mixer were presented in this paper. Research results show that: by means of the signal constraint function presented by Simulink Response Optimization, optimization PID parameters of the 2-DOF-PID controller can be obtained, and the response of close-loop control system has quite good performance of overshoot, response time, and stability compared with an open-loop control system.

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Adjoint-Based Optimization Procedure for Active Vibration Control of Nonlinear Mechanical Systems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4035609 ◽

2017 ◽

Vol 139 (8) ◽

Cited By ~ 31

Author(s):

Carmine M. Pappalardo ◽

Domenico Guida

Keyword(s):

Optimal Control ◽

Control Theory ◽

Control Problem ◽

Numerical Solution ◽

Optimal Control Theory ◽

Numerical Procedure ◽

Nonlinear Optimal Control ◽

Open Loop ◽

Adjoint Equations ◽

Loop Control

In this paper, a new computational algorithm for the numerical solution of the adjoint equations for the nonlinear optimal control problem is introduced. To this end, the main features of the optimal control theory are briefly reviewed and effectively employed to derive the adjoint equations for the active control of a mechanical system forced by external excitations. A general nonlinear formulation of the cost functional is assumed, and a feedforward (open-loop) control scheme is considered in the analytical structure of the control architecture. By doing so, the adjoint equations resulting from the optimal control theory enter into the formulation of a nonlinear differential-algebraic two-point boundary value problem, which mathematically describes the solution of the motion control problem under consideration. For the numerical solution of the problem at hand, an adjoint-based control optimization computational procedure is developed in this work to effectively and efficiently compute a nonlinear optimal control policy. A numerical example is provided in the paper to show the principal analytical aspects of the adjoint method. In particular, the feasibility and the effectiveness of the proposed adjoint-based numerical procedure are demonstrated for the reduction of the mechanical vibrations of a nonlinear two degrees-of-freedom dynamical system.

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Experimental Verification of Open-loop Control for an Underwater Eel-like Robot

The International Journal of Robotics Research ◽

10.1177/0278364902021010095 ◽

2002 ◽

Vol 21 (10-11) ◽

pp. 849-859 ◽

Cited By ~ 17

Author(s):

Kenneth A. Mcisaac ◽

James P. Ostrowski

Keyword(s):

Experimental Work ◽

Experimental Verification ◽

Vision System ◽

Open Loop ◽

Open Loop Control ◽

Loop Control ◽

Position Sensing ◽

Theoretical Predictions ◽

Approximate Expressions ◽

Good Agreement

In this paper, we describe experimental work using an underwater, biomimetic, eel-like robot to verify a simplified dynamic model and open-loop control routines. We compare experimental results to previous analytically derived, but approximate expressions for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot, focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from open-loop experiments performed with this robot in an aquatic environment using an off-line vision system for position sensing show good agreement with theory.

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