Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach
This express brief deals with the problem of the state variables regulation in the ball and beam system by applying the discrete-inverse optimal control approach. The ball and beam system model is defined by a set of four-order nonlinear differential equations that are discretized using the forward...
- Autores:
-
Montoya, Oscar Danilo
Gil-González, Walter
Ramírez-Vanegas, Carlos
- Tipo de recurso:
- Fecha de publicación:
- 2020
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/9543
- Palabra clave:
- Discrete-inverse optimal control
Ball and beam dynamical system
Asymptotic stability
Passivity-based analysis
Hamiltonian and Lagrangian functions
State variables regulation
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| title |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| spellingShingle |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach Discrete-inverse optimal control Ball and beam dynamical system Asymptotic stability Passivity-based analysis Hamiltonian and Lagrangian functions State variables regulation |
| title_short |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| title_full |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| title_fullStr |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| title_full_unstemmed |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| title_sort |
Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach |
| dc.creator.fl_str_mv |
Montoya, Oscar Danilo Gil-González, Walter Ramírez-Vanegas, Carlos |
| dc.contributor.author.none.fl_str_mv |
Montoya, Oscar Danilo Gil-González, Walter Ramírez-Vanegas, Carlos |
| dc.subject.keywords.spa.fl_str_mv |
Discrete-inverse optimal control Ball and beam dynamical system Asymptotic stability Passivity-based analysis Hamiltonian and Lagrangian functions State variables regulation |
| topic |
Discrete-inverse optimal control Ball and beam dynamical system Asymptotic stability Passivity-based analysis Hamiltonian and Lagrangian functions State variables regulation |
| description |
This express brief deals with the problem of the state variables regulation in the ball and beam system by applying the discrete-inverse optimal control approach. The ball and beam system model is defined by a set of four-order nonlinear differential equations that are discretized using the forward difference method. The main advantages of using the discrete-inverse optimal control to regulate state variables in dynamic systems are (i) the control input is an optimal signal as it guarantees the minimum of the Hamiltonian function, (ii) the control signal makes the dynamical system passive, and (iii) the control input ensures asymptotic stability in the sense of Lyapunov. Numerical simulations in the MATLAB environment allow demonstrating the effectiveness and robustness of the studied control design for state variables regulation with a wide gamma of dynamic behaviors as a function of the assigned control gains. |
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2020 |
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2020-11-04T21:33:20Z |
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2020-11-04T21:33:20Z |
| dc.date.issued.none.fl_str_mv |
2020-08-14 |
| dc.date.submitted.none.fl_str_mv |
2020-11-03 |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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http://purl.org/coar/resource_type/c_2df8fbb1 |
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info:eu-repo/semantics/article |
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info:eu-repo/semantics/publishedVersion |
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http://purl.org/coar/resource_type/c_6501 |
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publishedVersion |
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Danilo Montoya, O.; Gil-González, W.; Ramírez-Vanegas, C. Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach. Symmetry 2020, 12, 1359. |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/20.500.12585/9543 |
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https://www.mdpi.com/2073-8994/12/8/1359 |
| dc.identifier.doi.none.fl_str_mv |
10.3390/sym12081359 |
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Universidad Tecnológica de Bolívar |
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Repositorio Universidad Tecnológica de Bolívar |
| identifier_str_mv |
Danilo Montoya, O.; Gil-González, W.; Ramírez-Vanegas, C. Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach. Symmetry 2020, 12, 1359. 10.3390/sym12081359 Universidad Tecnológica de Bolívar Repositorio Universidad Tecnológica de Bolívar |
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https://hdl.handle.net/20.500.12585/9543 https://www.mdpi.com/2073-8994/12/8/1359 |
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eng |
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eng |
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http://creativecommons.org/licenses/by-nc-nd/4.0/ |
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Attribution-NonCommercial-NoDerivatives 4.0 Internacional |
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openAccess |
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12 páginas |
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application/pdf |
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Cartagena de Indias |
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Symmetry 2020, 12, 1359; doi:10.3390/sym12081359 Vol 12 no 8 |
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Montoya, Oscar Danilo8a59ede1-6a4a-4d2e-abdc-d0afb14d4480Gil-González, Walterce1f5078-74c6-4b5c-b56a-784f85e52a08Ramírez-Vanegas, Carlos5cbe6c61-0f15-42e9-8b2f-09e810652f702020-11-04T21:33:20Z2020-11-04T21:33:20Z2020-08-142020-11-03Danilo Montoya, O.; Gil-González, W.; Ramírez-Vanegas, C. Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approach. Symmetry 2020, 12, 1359.https://hdl.handle.net/20.500.12585/9543https://www.mdpi.com/2073-8994/12/8/135910.3390/sym12081359Universidad Tecnológica de BolívarRepositorio Universidad Tecnológica de BolívarThis express brief deals with the problem of the state variables regulation in the ball and beam system by applying the discrete-inverse optimal control approach. The ball and beam system model is defined by a set of four-order nonlinear differential equations that are discretized using the forward difference method. The main advantages of using the discrete-inverse optimal control to regulate state variables in dynamic systems are (i) the control input is an optimal signal as it guarantees the minimum of the Hamiltonian function, (ii) the control signal makes the dynamical system passive, and (iii) the control input ensures asymptotic stability in the sense of Lyapunov. Numerical simulations in the MATLAB environment allow demonstrating the effectiveness and robustness of the studied control design for state variables regulation with a wide gamma of dynamic behaviors as a function of the assigned control gains.12 páginasapplication/pdfenghttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://purl.org/coar/access_right/c_abf2Symmetry 2020, 12, 1359; doi:10.3390/sym12081359 Vol 12 no 8Discrete-Inverse Optimal Control Applied to the Ball and Beam Dynamical System: A Passivity-Based Control Approachinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_2df8fbb1Discrete-inverse optimal controlBall and beam dynamical systemAsymptotic stabilityPassivity-based analysisHamiltonian and Lagrangian functionsState variables regulationCartagena de IndiasPúblico generalKagami, R.M.; da Costa, G.K.; Uhlmann, T.S.; Mendes, L.A.; Freire, R.Z. 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