Article 6220
Title of the article |
TO THE PRACTICAL IMPLEMENTATION OF SOLVING THE OPTIMAL CONTROL PROBLEM |
Authors |
Diveev Askhat Ibragimovich, doctor of technical sciences, professor, chief researcher, head of the department of robotics control, Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences (42/2 Vavilova street, Moscow, Russia), E-mail: aidiveev@mail.ru |
Index UDK |
51-74, 519.6 |
DOI |
10.21685/2307-4205-2020-2-6 |
Abstract |
Background. Ubiquitous robotics and modern high-performance robot manufacturing technology require developers of automatic control systems to use high-performance methods for creating control systems for these robots. The usual procedure for constructing control systems includes developing a mathematical model of a control object, a robot, formalizing a control problem, applying one of the existing methods or developing a new one to solve a formal mathematical problem and implementing the resulting solution on an on-board processor of a control object, a robot. One of the most well-known control problems is the optimal control problem formulated by L.S. Pontryagin. The book itself repeatedly indicates the technical orientation of the results obtained, in particular, in the annotation to the monograph it is said “This principle (meaning the Pontryagin’s maximum principle) will allow solving a number of mathematical and applied problems ...”, then in the same place “The book is … a manual that can be used by an engineer and designer. ”. As further studies have shown, even the numerical solution of the boundary value problem, which the Pontryagin’s maxim principle leads to, is a rather difficult problem. But, if this problem is somehow solved today using modern computers, the question of what to do next with the resulting solution and how to implement it in a real control object remains open. It is believed that to implement the solution, it is necessary to build an additional stabilization system, but there is no consensus on how to do this. The present work is devoted to the study of meth ods for implementing the solution of the optimal control problem. In connection with the tightening of the time requirements for the creation of control systems for robotic devices, this task becomes extremely urgent. |
Key words |
unmanned vehicle, predictive control model, neural network, particle swarm optimization method |
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Дата обновления: 17.07.2020 12:49