Authors:
Yasushi Yamamoto
1
;
Shinya Hasegawa
2
;
Satoru Iwamori
2
and
Shigeru Yamaguchi
2
Affiliations:
1
ISUZU Advanced Engineering Center Ltd., Japan
;
2
Tokai University, Japan
Keyword(s):
Lagrangian, Hamiltonian, Energy, Bang-bang Controller.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Industrial Automation and Robotics
;
Industrial Engineering
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mechatronics Systems
;
Performance Evaluation and Optimization
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Systems Modeling and Simulation
Abstract:
One of the objectives in control theory is to ensure that a control system converges to a target state in the
shortest possible time. To achieve that objective, we studied a control method that combines the Lagrangian,
the Hamiltonian, and a bang-bang controller. Referred to as energy evaluation control (EEC), this method
evaluates the control state using the Lagrangian, and evolves the control output using the Hamiltonian. Here,
the Lagrangian and the Hamiltonian are defined for the deceleration field. The control result from the EEC
is fast and robust. Moreover, EEC has the same control strategy as the sliding-mode control, and hence can
be incorporated within it.