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  • Limitations on control signals and magnitudes of state variables as velocity and acceleration are common requirement in motion control applications. It is well known that time optimal control problem for a chain of integrators with bounded input leads to %22bang-bang%22 control strategy and can be converted to finding real solutions of a system of polynomial equations. The similar result is missing for the problem when magnitude constraints on the state of all integrators in the chain except the last one are added. The paper introduces a new solution of this problem which is based on the theory of Gröbner bases.
  • Limitations on control signals and magnitudes of state variables as velocity and acceleration are common requirement in motion control applications. It is well known that time optimal control problem for a chain of integrators with bounded input leads to %22bang-bang%22 control strategy and can be converted to finding real solutions of a system of polynomial equations. The similar result is missing for the problem when magnitude constraints on the state of all integrators in the chain except the last one are added. The paper introduces a new solution of this problem which is based on the theory of Gröbner bases. (en)
Title
  • Optimal control of chain of integrators with contraints
  • Optimal control of chain of integrators with contraints (en)
skos:prefLabel
  • Optimal control of chain of integrators with contraints
  • Optimal control of chain of integrators with contraints (en)
skos:notation
  • RIV/49777513:23520/09:43899135!RIV12-MPO-23520___
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  • P(FI-IM5/030)
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  • 331862
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  • RIV/49777513:23520/09:43899135
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  • optimal control, Gröbner bases, chain of integrators, %22bang-bang%22 control, constraints (en)
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  • [9E34C3861B4F]
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  • Štrbské Pleso
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  • Bratislava
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  • 17th International Conference on Process Control 2009
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  • Schlegel, Miloš
  • Mošna, Jiří
  • Bláha, Lukáš
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  • Slovenská technická univerzita v Bratislave
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  • 978-80-227-3081-5
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  • 23520
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