Method of synthesized optimal control for the group of robots
Abstract:
A universal approach to the development of robust optimal control systems is considered. The approach consists in constructing a stabilization system and ensuring the property of stability of an object relative to a point in the state space. Optimal control of objects is carried out by finding the optimal location of the stabilization points for each object and switching them over a given time interval. It is shown that the behavior of an object near the stabilization points is robust to inaccuracies of mathematical model and the initial conditions. A numerical example of using this approach to solving the optimal control problem of a group of robots in the presence of phase constraints is given.
Keywords:
control system synthesis, optimal control, group of robots
