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
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;
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.1999.786592
