TY - GEN

T1 - Real-Time Optimal Control and Controller Design on Embedded Systems

AU - Rath, Gerhard

PY - 2015/6/6

Y1 - 2015/6/6

N2 - Modern small-scale electronic systems based on ARM-processors provide surprising computing power and allow implementation of complex algorithms that usually are not applied in automation engineering. In this work a Hamiltonian-based optimal path control for a dynamical system of fourth order is implemented. It turns out that even the controller design that requires advanced numerical computation can run on the system in a real-time manner. In order to verify the theoretical approach, the controller was tested on a mechanical model. Finally the performance data of the actual control task are given.

AB - Modern small-scale electronic systems based on ARM-processors provide surprising computing power and allow implementation of complex algorithms that usually are not applied in automation engineering. In this work a Hamiltonian-based optimal path control for a dynamical system of fourth order is implemented. It turns out that even the controller design that requires advanced numerical computation can run on the system in a real-time manner. In order to verify the theoretical approach, the controller was tested on a mechanical model. Finally the performance data of the actual control task are given.

M3 - Conference contribution

SN - 978-1-4799-8999-7

SP - 60

EP - 63

BT - Embedded Computing (MECO), 2015 4th Mediterranean Conference on

CY - Budva

ER -