DocumentCode :
1367087
Title :
Fixed final time optimal control approach for bounded robust controller design using Hamilton-Jacobi-Bellman solution
Author :
Kar, I.N. ; Adhyaru, D.M. ; Gopal, M.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol., New Delhi, India
Volume :
3
Issue :
9
fYear :
2009
fDate :
9/1/2009 12:00:00 AM
Firstpage :
1183
Lastpage :
1195
Abstract :
In this study, an optimal control algorithm based on Hamilton-Jacobi-Bellman (HJB) equation, for the bounded robust controller design for finite-time-horizon nonlinear systems, is proposed. The HJB equation formulated using a suitable nonquadratic term in the performance functional to take care of magnitude constraints on the control input. Utilising the direct method of Lyapunov stability, we have proved the optimality of the controller with respect to a cost functional, that includes penalty on the control effort and the maximum bound on system uncertainty. The bounded controller requires the knowledge of the upper bound of system uncertainty. In the proposed algorithm, neural network is used to approximate the time-varying solution of HJB equation using least squares method. Proposed algorithm has been applied on the nonlinear system with matched and unmatched system uncertainties. Necessary theoretical and simulation results are presented to validate proposed algorithm.
Keywords :
Lyapunov methods; control system synthesis; neurocontrollers; nonlinear control systems; robust control; time optimal control; time-varying systems; Hamilton-Jacobi-Bellman equation; Lyapunov stability; finite-time-horizon nonlinear systems; neural network; robust controller; time optimal control; time-varying solution;
fLanguage :
English
Journal_Title :
Control Theory & Applications, IET
Publisher :
iet
ISSN :
1751-8644
Type :
jour
DOI :
10.1049/iet-cta.2008.0288
Filename :
5235421
Link To Document :
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