Title :
Computing nonlinear optimal controls from existing stabilizing controls
Author :
Beard, Randy ; Saridis, George ; Wen, John
Author_Institution :
Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
Introduces a practical algorithm for computing an optimal feedback control for nonlinear systems. The algorithm that the authors present computes a sequence of suboptimal controls that converge to the optimal. The authors demonstrate the features of the algorithm by two simple examples including the optimal nonlinear feedback control of an inverted pendulum
Keywords :
suboptimal control; inverted pendulum; nonlinear optimal controls; nonlinear systems; optimal feedback control; stabilizing controls; suboptimal controls; Algorithm design and analysis; Control systems; Convergence; Equations; Feedback control; Iterative algorithms; Nonlinear control systems; Nonlinear systems; Optimal control; Systems engineering and theory;
Conference_Titel :
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location :
Albany, NY
Print_ISBN :
0-7803-2550-8
DOI :
10.1109/CCA.1995.555925
