Title :
Output-feedback near-optimal control of chained systems
Author :
Qu, Zhihua ; Wang, Jing ; Plaisted, Clinton E. ; Hull, Richard A.
Author_Institution :
Dept. of Electr. Eng., Central Florida Univ., Orlando, FL
Abstract :
In this paper, a new optimal trajectory tracking control is proposed for nonholonomic systems in chained form by using only output feedback information. After establishing a simple condition on the desired trajectory to ensure the uniform complete observability for the tracking error system, a globally and exponentially convergent observer is synthesized in closed form. Then, an output-feedback near-optimal control is obtained also in closed form for real-time implementation, and it is shown to be smooth, globally exponentially stabilizing, and near-optimal. Simulation results are provided to verify its effectiveness
Keywords :
convergence; feedback; nonlinear control systems; observers; optimal control; chained systems; exponentially convergent observer; globally convergent observer; nonholonomic systems; optimal trajectory tracking control; output-feedback near-optimal control; tracking error system; Asymptotic stability; Control design; Control systems; Controllability; Linear feedback control systems; Nonlinear control systems; Observability; Optimal control; Output feedback; Trajectory;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657509
