Title :
A practical algorithm for designing nonlinear H∞ control laws
Author :
Beard, Randal W. ; McLain, Timothy W.
Author_Institution :
Dept. of Electr. Eng., Brigham Young Univ., Provo, UT, USA
Abstract :
We describe an approximation method for the Hamilton-Jacobi-Isaacs (HJI) equation that results in feedback control. The approximation is accomplished via a two-step successive Galerkin approximation scheme. An application of the technique to the control of the forward motion of an underwater vehicle is described
Keywords :
Galerkin method; H∞ control; approximation theory; control system synthesis; marine systems; motion control; nonlinear control systems; state feedback; Hamilton-Jacobi-Isaacs equation; feedback control; forward motion; nonlinear H∞ control laws; two-step successive Galerkin approximation scheme; underwater vehicle; Algorithm design and analysis; Control systems; Differential equations; Feedback control; Mechanical engineering; Motion control; Nonlinear control systems; Nonlinear equations; Optimal control; Underwater vehicles;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703342
