In this paper the problem of optimizing the output regulation of a weakly dual redundant plant is addressed. When the system is under-actuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. We investigate the problem of finding the input that minimize a cost function of the overall output tracking error, and how such solution is related to the inputs associated to the singularly optimal regulation of each output. Some interesting properties are revealed, such as the optimal solution being always included in the convex hull of singularly optimal controls and the existence of neutral reference spaces.

Some remarks on optimal output regulation for weakly dual redundant plants / Corona, Dario; Cristofaro, Andrea. - (2016), pp. 1205-1211. (Intervento presentato al convegno 24th Mediterranean Conference on Control and Automation, MED 2016 tenutosi a Athens; Greece) [10.1109/MED.2016.7536028].

Some remarks on optimal output regulation for weakly dual redundant plants

Cristofaro Andrea
2016

Abstract

In this paper the problem of optimizing the output regulation of a weakly dual redundant plant is addressed. When the system is under-actuated, only a subset of the outputs can be arbitrarily controlled, and the remaining ones are constrained. We investigate the problem of finding the input that minimize a cost function of the overall output tracking error, and how such solution is related to the inputs associated to the singularly optimal regulation of each output. Some interesting properties are revealed, such as the optimal solution being always included in the convex hull of singularly optimal controls and the existence of neutral reference spaces.
2016
24th Mediterranean Conference on Control and Automation, MED 2016
Electric vehicles; Vehicle wheels; Thrust allocation
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Some remarks on optimal output regulation for weakly dual redundant plants / Corona, Dario; Cristofaro, Andrea. - (2016), pp. 1205-1211. (Intervento presentato al convegno 24th Mediterranean Conference on Control and Automation, MED 2016 tenutosi a Athens; Greece) [10.1109/MED.2016.7536028].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1329769
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