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- W217769531 abstract "This paper addresses the problem of real-time generation of near-optimal control for nonlinear plants. It advocates using the direct method of calculus of variations based on a priory approximation of the optimal solution by appropriate reference functions depending on several variable parameters and then applying inverse dynamics to determine the corresponding controls. The paper reviews general ideas of such an approach and provides with two detailed examples based on recent graduate students’ projects. These include a standard inverted pendulum control and a more complex problem aimed on the development of algorithms for cooperative collision-free control of multiple agents. Copyright © 2006 USTARTH" @default.
- W217769531 created "2016-06-24" @default.
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- W217769531 date "2006-01-01" @default.
- W217769531 modified "2023-09-27" @default.
- W217769531 title "Direct method for real-time prototyping of optimal control" @default.
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- W217769531 hasPublicationYear "2006" @default.
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