DocumentCode
3071001
Title
Optimization of a class of nonholonomic dynamic systems
Author
Lyshevski, Sergey Edward
Author_Institution
Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
Volume
6
fYear
1999
fDate
1999
Firstpage
3930
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;
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.1999.786254
Filename
786254
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