Study of Energy Evaluation Control

Yasushi Yamamoto, Shinya Hasegawa, Satoru Iwamori, Shigeru Yamaguchi

2015

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.

Paper Citation

in Harvard Style

Yamamoto Y., Hasegawa S., Iwamori S. and Yamaguchi S. (2015). Study of Energy Evaluation Control . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-122-9, pages 550-553. DOI: 10.5220/0005538105500553

in Bibtex Style

@conference{icinco15,
author={Yasushi Yamamoto and Shinya Hasegawa and Satoru Iwamori and Shigeru Yamaguchi},
title={Study of Energy Evaluation Control},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2015},
pages={550-553},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005538105500553},
isbn={978-989-758-122-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Study of Energy Evaluation Control
SN - 978-989-758-122-9
AU - Yamamoto Y.
AU - Hasegawa S.
AU - Iwamori S.
AU - Yamaguchi S.
PY - 2015
SP - 550
EP - 553
DO - 10.5220/0005538105500553