DocumentCode
343372
Title
Synthesis and experimental testing of a nonlinear optimal tracking controller
Author
McLain, Timothy W. ; Bailey, Christopher A. ; Beard, Randal W.
Author_Institution
Dept. of Mech. Eng., Brigham Young Univ., Provo, UT, USA
Volume
4
fYear
1999
fDate
1999
Firstpage
2847
Abstract
This paper presents a novel approach for developing tracking controllers for nonlinear systems. The approach involves the numerical solution, by Galerkin approximation, of the time-varying Hamilton-Jacobi-Bellman (HJB) equation and results in a nonlinear controller approximating the optimal tracking control law for a specified desired trajectory and cost function. Experimental results are presented for a nonlinear pendulum system
Keywords
Galerkin method; approximation theory; control system synthesis; nonlinear systems; optimal control; partial differential equations; pendulums; tracking; Galerkin approximation; Hamilton-Jacobi-Bellman equation; cost function; nonlinear systems; optimal control; partial differential equations; pendulum; tracking; Control systems; Cost function; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Open loop systems; Optimal control; Riccati equations; Testing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1999. Proceedings of the 1999
Conference_Location
San Diego, CA
ISSN
0743-1619
Print_ISBN
0-7803-4990-3
Type
conf
DOI
10.1109/ACC.1999.786592
Filename
786592
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