State-feedback optimal controllers for deterministic nonlinear systems

Author

Won, Chang-Hee

Author_Institution

Dept. of Electr. Eng., North Dakota Univ., Grand Forks, ND, USA

fYear

2005

fDate

8-10 June 2005

Firstpage

858

Abstract

A full-state feedback optimal control problem is solved for a general deterministic nonlinear system. The solution method is based on transforming Hamilton-Jacobi equation into an algebraic equation using the pseudo-inverse. Then we interpret the value function in terms of the control Lyapunov function and provide the stabilizing controller and the stability margins. We also derive an optimal controller for a nonlinear system which requires a solution of the state dependent Riccati equation. Simple examples demonstrate each method.

Keywords

Lyapunov methods; Riccati equations; nonlinear control systems; optimal control; stability; state feedback; Hamilton-Jacobi equation; algebraic equation; control Lyapunov function; deterministic nonlinear systems; optimal control; pseudo-inverse; stability margins; state dependent Riccati equation; state-feedback; value function; Control systems; Cost function; Lyapunov method; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Optimal control; Partial differential equations; Riccati equations; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470067

Filename

1470067