Title :
The Global Inverse Optimal Design with Robustness to Some Uncertainties
Author_Institution :
Inst. of Comput. Technol. & Autom., Tianjin Polytech. Univ., Tianjin
Abstract :
In this paper, by employing the new characterization of control Lyapunov function, an inverse optimal controller is designed for the nonlinear system. The controller guarantee robustness against some input dynamic uncertainties and in the cost functional, the penalty on the control is not always quadratic. It is shown that the Lyapunov function guaranteeing closed-loop stability is a solution to the Hamilton-Jacobi-Bellman equation. With this method an inertia-wheel pendulum system is put forward to verify our conclusion. The control law for the pendulum system is designed to make the system global asymptotically stability on one of its equilibrium point, and computer simulations are given for illustration.
Keywords :
Jacobian matrices; Lyapunov methods; asymptotic stability; closed loop systems; control system synthesis; cost optimal control; inverse problems; nonlinear control systems; robust control; uncertain systems; Hamilton-Jacobi-Bellman equation; closed-loop stability; control Lyapunov function; cost functional; global asymptotic stability; inertia-wheel pendulum system; input dynamic uncertainty; inverse optimal controller design; nonlinear system; robustness; Control systems; Cost function; Lyapunov method; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control; Robust control; Robustness; Uncertainty; Lyapunov function; inertia-wheel pendulum system; inverse optimal;
Conference_Titel :
Computing, Communication, Control, and Management, 2008. CCCM '08. ISECS International Colloquium on
Conference_Location :
Guangzhou
Print_ISBN :
978-0-7695-3290-5
DOI :
10.1109/CCCM.2008.329
