Title :
Optimization of a class of nonholonomic dynamic systems
Author :
Lyshevski, Sergey Edward
Author_Institution :
Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
Abstract :
We design a nonlinear control law for nonholonomic dynamic systems using the Hamilton-Jacobi theory. The novelty of the reported results lies in the fact that nonquadratic performance costs and return functions are used. By applying necessary and sufficient conditions for optimality, a nonlinear control law in the closed form is designed and optimality is verified. The solution of the Hamilton-Jacobi-Bellman equation is found. The application of the explored procedure is discussed, and a familiar example is studied
Keywords :
control system synthesis; nonlinear control systems; optimal control; optimisation; Hamilton-Jacobi theory; Hamilton-Jacobi-Bellman equation; necessary and sufficient optimality conditions; nonholonomic dynamic systems; nonlinear control law; nonquadratic performance costs; return functions; Control system synthesis; Control systems; Cost function; Guidelines; Nonlinear control systems; Nonlinear equations; Optimal control; Sliding mode control; Stability criteria; Sufficient conditions;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786254
