Optimal Control of Nonlinear
The nonlinear optimal control problem can generally be solved by
integrating the Hamilton-Jacobi partial differential equation.
We work on methods to numerically calculate the optimal controller for
the infinite horizon, i.e. time invariant problem.
A first approach was via backward integration of the
Euler-Lagrange ordinary differential equations, see:
Th. Holzhüter (2004). Optimal Regulator for the Inverted
Pendulum via Euler-Lagrange Backward Integration (ps)
Automatica, Vol. 40 No. 9 (2004), pp.
Th. Holzhüter and Th.
Klinker (2007). Method to
solve the nonlinear infinite horizon optimal control problem
application to the track control of a mobile robot. (pdf)
Journal of Bifurcation and Chaos Vol. 17, No. 10, pp. 3607-3611.
Currently we work on a numerical procedure using grid methods for
Hamilton-Jacobi equation. Details will be available later.
We use AmigoBot
robots controlled from the MATLAB/SIMULINK
This environment is also used in course on RealTimeSystems in
the Master Course on Information Engineering at HAW Hamburg.
Fang, Li (2004).
Camera based track control for a mobile robot. pdf
Wu, Kai (2004).
control of a mobile robot using MATLAB. pdf
Guanghua & Wang, Quingyan (2005).
Observation camera based navigation system for mobile
Chung, Joseph Man-Kit
(2006). Formation Control for Multiple Mobile Robots pdf
Recently we started using the ROBOTINO mobile
produced by Festo.
Currently we work on driving the Robot remotely from Matlab/Simulink.
Some information for in-house use is available
here, further results will be published later.
Rapid Prototyping and
Automatic Code Generation via Matlab/Simulink
In connection with an industrial partner and as a focus for the coming
Master Course in Automatic Control
at the Department of Electrical and Information Engineering we are
a sample implementation, using the Simulink xPC real time target.
will be presented later.