Title :
Backstepping design with local optimality matching
Author :
Zigang Pan;K. Ezal;A.J. Krener;P.V. Kokotovic
Author_Institution :
Cincinnati Univ., OH, USA
fDate :
6/23/1905 12:00:00 AM
Abstract :
In this study of the nonlinear HI-optimal control design for strict-feedback nonlinear systems, our objective is to construct globally stabilizing control laws to match the optimal control law up to any desired order, and to be inverse optimal with respect to some computable cost functional. Our recursive construction of a cost functional and the corresponding solution to the Hamilton-Jacobi-Isaacs equation employs a new concept of nonlinear Cholesky factorization. When the value function for the system has a nonlinear Cholesky factorization, we show that the backstepping design procedure can be tuned to yield the optimal control law.
Keywords :
"Backstepping","Optimal control","Control systems","Nonlinear systems","Taylor series","Nonlinear control systems","Cost function","Nonlinear equations","Robust control","Jacobian matrices"
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946185