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|Title:||An optimal PID controller design for nonlinear optimal control problems with continuous state inequality constraints|
|Citation:||Proceedings of the International Conference on Optimization and Control (ICOCO2010), held in Guiyang China, July 18-23, 2010 / H. Xu, X. Yang and W. Wei (eds.): pp.645-652|
|Conference Name:||International Conference on Optimization and Control (2010 : Guiyang, China)|
|Kok Lay Teo, Bin Li, Cheng-Chew Lim and Guang-Ren Duan|
|Abstract:||In this paper, we consider an optimal PID control problem subject to continuous state inequality constraints. By applying the constraint transcription method, a local smoothing technique to these continuous state inequality constraint functions, we construct the corresponding smooth approximate functions. Then, by using the concept of the penalty function, these smooth approximate functions are appended to the cost function, forming a new cost function. Then, the constrained optimal PID control problem is approximated by a sequence of unconstrained optimal control problems. Each of which can be viewed and hence solved as an unconstrained nonlinear optimization problem. The gradient formula of the new appended cost function is derived, and a reliable computation algorithm is given.|
|Keywords:||Nonlinear optimal control; Continuous state inequality constraints; Constraint transcription; Local smoothing; Penalty function; PID control; Computational algorithm; Ship steering control|
|Rights:||Copyright status unknown|
|Appears in Collections:||Mathematical Sciences publications|
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