システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
ハミルトン系の変分対称性に基づく学習最適制御
藤本 健治堀内 哲杉江 俊治
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2008 年 21 巻 1 号 p. 10-17

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This paper proposes a novel iterative learning control method for Hamiltonian control systems which can solve a class of optimal control problems. First of all, a symmetric property of the input-output mappings of Hamiltonian systems is clarified which plays an important role in solving, optimal control problems by gradient method. A concrete learning algorithm is derived for mechanical systems possibly with input saturation. Furthermore, numerical simulations of a 2 link robot manipulator demonstrate the the effectiveness of the proposed method.

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