摘要
Abstract：control law for both linear and nonlinear systems. By introducing a penalty function, the method can be mod- ified to deal with systems with constraints. Compared with existing computational methods, the proposed method can be implemented in a straightforward manner. The convergent solutions can be achieved by selecting suitable PSO parameters regardless of the initial guess of the switching times. A double integrator and a third-order nonlinear system are used tO demonstrate the effectiveness and robustness of the proposed method. The method is applied to obtain the time-optimal control law for a high performance linear motion positioning system. The results show the practicality of the proposed algorithm.
Abstract：control law for both linear and nonlinear systems. By introducing a penalty function, the method can be mod- ified to deal with systems with constraints. Compared with existing computational methods, the proposed method can be implemented in a straightforward manner. The convergent solutions can be achieved by selecting suitable PSO parameters regardless of the initial guess of the switching times. A double integrator and a third-order nonlinear system are used tO demonstrate the effectiveness and robustness of the proposed method. The method is applied to obtain the time-optimal control law for a high performance linear motion positioning system. The results show the practicality of the proposed algorithm.
基金
supported by the China Scholarship Council(No.2007103188)
