Suboptimal control of feedback-linearizable nonlinear plant |
| |
Authors: | V N Afanas’ev P V Orlov |
| |
Affiliation: | 1.Moscow Institute of Electronics and Mathematics (Technical University),Moscow,Russia |
| |
Abstract: | An optimal control problem is formulated for a class of nonlinear systems for which there exists a coordinate representation
(diffeomorphism) transforming the original system into a system with a linear main part and a nonlinear feedback. In this
case the coordinate transformation significantly changes the form of original quadratic functional. The penalty matrices become
dependent on the system state. The linearity of the structure of the transformed system and the quadratic functional make
it possible to pass over from the Hamilton-Jacoby-Bellman equation to the Riccati-type equation with state-dependent parameters
upon the control synthesis. Note that it is impossible to solve the obtained form of Riccati equation analytically in the
general case. It is necessary to approximate the solution; this approximation is realized by numerical methods using symbolic
computer packages or interpolation methods. In the latter case, it is possible to obtain the suboptimal control. The presented
example illustrates the application of the proposed control method for the feedback-linearizable nonlinear system. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|