This paper is concerned with repetitive control of Hamiltonian systems, which is based on iterative learning control utilizing the variational symmetry of those systems. Variational symmetry allows us to obtain an algorithm to solve a certain class of optimal control problems in a repetitive control framework. Therefore, the proposed method can deal with not only trajectory tracking control pro...

In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter ...

In this paper, a new approach for finding an approximate solution for discrete optimal control problems is introduced. In this method the problem is transformed to a continuous optimal control problem whose solution may give rise to a good approximate solution for the original problem. Then, a measure-theoretical approach is applied to solve the new problem. The method is extended to solve time...

This paper deals with a discrete time repetitive control synthesis for non minimum phase plants. Two parts can be distinguished. The main design features of the repetitive controllers are discussed in the first part. More precisely one shows that one can realize two objectives; tracking with zero error and tracking with nonzero error. In the second part, a suitable plant model identification pr...

In this paper, stability analysis and periodic optimal control problems for a class of an impulsive periodic system in Banach spaces is considered. Combining exponential stabilizability and impulsive evolution operators, we present the existence of periodic optimal controls without assuming the semigroup is compact or exponentially stable. Finally, an example is given for demonstration. AMS sub...

in this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. it provides both robust tracking and load swing suppression. inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. the crane nonlinearities are then tr...