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Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller
| Content Provider | Semantic Scholar |
|---|---|
| Author | McLain, Controller Timothy W. Department, Christopher A. Bailey |
| Copyright Year | 1999 |
| Abstract | In this paper, a novel approach for developing tracking controllers for nonlinear systems is presented. 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 speciied desired trajectory and cost function. Experimental results are presented for a nonlinear pendulum system. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=2963&context=facpub |
| Alternate Webpage(s) | http://www.ee.byu.edu/~beard/papers/acc99-5.ps |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Approximation Controllers Galerkin method Hamilton–Jacobi–Bellman equation Jacobi method Loss function Nonlinear programming Nonlinear system Numerical analysis Optimal control hamilton rating scale for depression |
| Content Type | Text |
| Resource Type | Article |
