TY - JOUR
T1 - Optimal control of spatial interconnected systems
AU - Li, Hui
AU - Wu, Qing He
PY - 2010/6
Y1 - 2010/6
N2 - This paper investigates the optimal control of spatial interconnected systems with linear quadratic performance index. By introducing spatial variables and spatial shift operators, the interconnected systems can be discribed as a general state space expression. Then, the distributed controllers are designed on the basis of direct disassemble coordination arithmetic, which is more convenient for the controller synthesis. The controllers are quadratic optimal, considering both the transient process and the control energy. The simulation results illustrate the correctness of the method. Finally, the experiment results of three mobile robots' formation demonstrate the effectiveness and availability of the proposed method further.
AB - This paper investigates the optimal control of spatial interconnected systems with linear quadratic performance index. By introducing spatial variables and spatial shift operators, the interconnected systems can be discribed as a general state space expression. Then, the distributed controllers are designed on the basis of direct disassemble coordination arithmetic, which is more convenient for the controller synthesis. The controllers are quadratic optimal, considering both the transient process and the control energy. The simulation results illustrate the correctness of the method. Finally, the experiment results of three mobile robots' formation demonstrate the effectiveness and availability of the proposed method further.
KW - Automatic control technology
KW - Distributed control
KW - Linear quadratic optimal control
KW - Spatial interconnected system
UR - http://www.scopus.com/inward/record.url?scp=77955799436&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:77955799436
SN - 1000-1093
VL - 31
SP - 685
EP - 691
JO - Binggong Xuebao/Acta Armamentarii
JF - Binggong Xuebao/Acta Armamentarii
IS - 6
ER -