Iterative learning control of nonholonomic Hamiltonian systems: Application to a vehicle system
| Authors: | Kiyasu Yugo, Kyoto University, Japan
Fujimoto Kenji, Nagoya University, Japan
Sugie Toshiharu, Kyoto University, Japan |
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| Topic: | 1.2 Adaptive and Learning Systems |
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| Session: | Nonlinear Adaptive Control |
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| Keywords: | iterative learning control, nonholonomic systems, Hamiltonian systems, nonlinear control, optimal control |
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Abstract
This paper is concerned with iterative learning control of Hamiltoniansystems with nonholonomic constraints. The authors have proposed a novel iterative learning control method based onthe symmetric property of Hamiltonian control systems. This paper showsits application to a four-wheeled vehicle for which we need to employ anapproximation of the control law. A numerical example demonstrates theeffectiveness of the proposed method.
