Integral controller design for nonlinear systems using inverse optimal control

Su, SW; Nguyen, H; Ha, QP

Integral controller design for nonlinear systems using inverse optimal control

Su, SW

Nguyen, H

Ha, QP

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Publication Type:: Conference Proceeding
Citation:: 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, pp. 2154 - 2158
Issue Date:: 2008-12-01

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Field	Value	Language
dc.contributor.author	Su, SW https://orcid.org/0000-0002-5720-8852	en_US
dc.contributor.author	Nguyen, H https://orcid.org/0000-0003-3373-8178	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2008-12-01	en_US
dc.identifier.citation	2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, pp. 2154 - 2158	en_US
dc.identifier.isbn	9781424422876	en_US
dc.identifier.uri	http://hdl.handle.net/10453/11107
dc.description.abstract	This paper proposes an integral controller design scheme for nonlinear systems based on optimal control and the passivity theorem in order to suppress the effect of external disturbances. The main strategy is to augment an optimal controller with a PI type controller. To guarantee the proposed controller has a desired stability margin, the passivity-based design method is introduced. Here, the inverse optimal control technique is employed to avoid the need of solving a Hamilton-Jacobi equation. An illustrative example is given to show the design procedure and the controller effectiveness. © 2008 IEEE.	en_US
dc.relation.ispartof	2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008	en_US
dc.relation.isbasedon	10.1109/ICARCV.2008.4795864	en_US
dc.title	Integral controller design for nonlinear systems using inverse optimal control	en_US
dc.type	Conference Proceeding
utslib.for	0909 Geomatic Engineering	en_US
dc.location.activity	Hanoi, Vietnam	en_US
dc.location.activity	Hanoi, VIETNAM
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

This paper proposes an integral controller design scheme for nonlinear systems based on optimal control and the passivity theorem in order to suppress the effect of external disturbances. The main strategy is to augment an optimal controller with a PI type controller. To guarantee the proposed controller has a desired stability margin, the passivity-based design method is introduced. Here, the inverse optimal control technique is employed to avoid the need of solving a Hamilton-Jacobi equation. An illustrative example is given to show the design procedure and the controller effectiveness. © 2008 IEEE.

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http://hdl.handle.net/10453/11107