Study of energy evaluation control

摘要

One of the objectives in control theory is to ensure that a control system converges to a target state in the shortest possible time. To achieve that objective, we studied a control method that combines the Lagrangian, the Hamiltonian, and a bang-bang controller. Referred to as energy evaluation control (EEC), this method evaluates the control state using the Lagrangian, and evolves the control output using the Hamiltonian. Here, the Lagrangian and the Hamiltonian are defined for the deceleration field. The control result from the EEC is fast and robust. Moreover, EEC has the same control strategy as the sliding-mode control, and hence can be incorporated within it.