As governments and industry seek to reduce energy consumption, the development of energy-efficient strategies is increasingly desirable. A novel method for generating energy-efficient motion laws for non-linear systems is presented here. The inverted pendulum is taken as a case study, since it represents a variety of practical systems. The method combines direct and indirect methods by first discretizing the problem and then solving it using a Taylor expansion linearization. This allows for fast computation compared to traditional multi-purpose optimal control toolboxes while guaranteeing nearly the same energy consumption.
A Mixed Direct/Indirect Method for Generating Energy-Efficient Motion Laws for an Inverted Pendulum
Dona' D.;Lenzo B.;Boscariol P.;Rosati G.
2023
Abstract
As governments and industry seek to reduce energy consumption, the development of energy-efficient strategies is increasingly desirable. A novel method for generating energy-efficient motion laws for non-linear systems is presented here. The inverted pendulum is taken as a case study, since it represents a variety of practical systems. The method combines direct and indirect methods by first discretizing the problem and then solving it using a Taylor expansion linearization. This allows for fast computation compared to traditional multi-purpose optimal control toolboxes while guaranteeing nearly the same energy consumption.
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