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Nonlinear control problems with state and input constraints

Kandil, Ahmed Hisham
http://rave.ohiolink.edu/etdc/view?acc_num=case1055435132

Abstract Details

1991, Doctor of Philosophy, Case Western Reserve University, Systems and Control Engineering.
This dissertation is concerned with constrained control problems and two types of problems are addressed: control problems with smooth state constraints and control problems with state constraints and smooth input constraints. For the control problems with state constraints, the dynamical system with state constraints is converted into another dynamical system of higher dimension with equality constraints on the initial states. For dynamical systems with multiple constraints and/or multiple inputs, the slack variable method is extended to address this case. It is shown that by proper choice of the slack variables, the resulting dynamical system can be reduced to its original order. Also, the application of feedback linearization for the systems which result from applying the slack variable method is examined. It was found that by input-output feedback linearization the order of the resulting dynamical system is reduced to at least its original order. For control problems with state and input constraints, necessary conditions for the existence of a solution are derived. In this case, the smoothness of the state constraint is relaxed. A solution for the minimum time control problem for a second order system in Brunovsky form subject to state and input constraints is presented. Moreover, some collision a voidance problems for robotic manipulators are formulated in the context of a control problem with state and input constraints.
Kenneth Loparo (Advisor)
147 p.
Engineering, System Science
nonlinear control problems state input constraints

Recommended Citations

Citations

  • Kandil, A. H. (1991). Nonlinear control problems with state and input constraints [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1055435132

    APA Style (7th edition)

  • Kandil, Ahmed. Nonlinear control problems with state and input constraints. 1991. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1055435132.

    MLA Style (8th edition)

  • Kandil, Ahmed. "Nonlinear control problems with state and input constraints." Doctoral dissertation, Case Western Reserve University, 1991. http://rave.ohiolink.edu/etdc/view?acc_num=case1055435132

    Chicago Manual of Style (17th edition)

case1055435132
692
© 1991, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.