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A real time, FEM based optimal control algorithm and its implementation using parallel processing hardware (transistors) in a microprocessor environmentThere is an evident need to discover a means of establishing reliable, implementable controls for systems that are plagued by nonlinear and, or uncertain, model dynamics. The development of a generic controller design tool for tough-to-control systems is reported. The method utilizes a moving grid, time infinite element based solution of the necessary conditions that describe an optimal controller for a system. The technique produces a discrete feedback controller. Real time laboratory experiments are now being conducted to demonstrate the viability of the method. The algorithm that results is being implemented in a microprocessor environment. Critical computational tasks are accomplished using a low cost, on-board, multiprocessor (INMOS T800 Transputers) and parallel processing. Progress to date validates the methodology presented. Applications of the technique to the control of highly flexible robotic appendages are suggested.
Document ID
Document Type
Conference Paper
Patten, William Neff (Oklahoma Univ. Norman, OK, United States)
Date Acquired
September 6, 2013
Publication Date
December 15, 1989
Publication Information
Publication: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the 3rd Annual Conference on Aerospace Computational Control, Volume 2
Subject Category
Distribution Limits
Work of the US Gov. Public Use Permitted.

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IDRelationTitle19900013724Analytic PrimaryProceedings of the 3rd Annual Conference on Aerospace Computational Control, volume 2