Journal ArticleDOI
Optimal linear regulators: The discrete-time case
P. Dorato,Alexander H. Levis +1 more
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In this paper the optimal discrete-time linear-quadratic regulator problem is carefully presented and the basic results are reviewed.Abstract:
In this paper the optimal discrete-time linear-quadratic regulator problem is carefully presented and the basic results are reviewed. Dynamic programming is used to determine the optimization equations. Special attention is given to problems unique to the discrete-time case; this includes, for example, the possibility of a singular system matrix and a singular control-effort weighting matrix. Some problems associated with sampled-data systems are also summarized, e.g., sensitivity to sampling time, and loss of controllability due to sampling. Computational methods for the solution of the optimization equations are outlined and a simple example is included to illustrate the various computational approaches.read more
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Nonlinear Model Predictive Control
Lars Grne,Jrgen Pannek +1 more
TL;DR: In this article, nonlinear model predictive control (NMPC) is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse optimality and suboptimality can be derived in a uniform manner.
Journal ArticleDOI
A Schur method for solving algebraic Riccati equations
TL;DR: In this article, a new algorithm for solving algebraic Riccati equations (both continuous-time and discrete-time versions) is presented, which is a variant of the classical eigenvector approach and uses instead an appropriate set of Schur vectors.
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Computing integrals involving the matrix exponential
TL;DR: A new algorithm for computing integrals involving the matrix exponential is given, which employs diagonal Pade approximation with scaling and squaring and is compared with existing techniques.
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Feedback control of a class of linear discrete systems with jump parameters and quadratic cost criteria
W. P. Blair,D. D. Sworder +1 more
TL;DR: In this paper, the optimal control for a discrete-time linear system with quadratic criterion functional is derived for the case where the system parameters are subject to a discretetime, discrete-state Markov process.
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Vision-Based Sensor and Navigation System for Autonomous Air Refueling
TL;DR: In this paper, a vision-based sensor and navigation system is introduced that enables precise and reliable probe-and-drogue autonomous aerial refueling for non-micro-sized unmanned aerial vehicles.
References
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On pole assignment in multi-input controllable linear systems
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An iterative technique for the computation of the steady state gains for the discrete optimal regulator
TL;DR: In this correspondence an algorithm is presented for computing the steady-state optimal feedback law of the discrete-time invariant linear regulator that converges quadratically in a neighborhood of the steady state.