Optimal Nonlinear Feedback Control Design Using a Waypoint Method
Optimal Nonlinear Feedback Control Design Using a Waypoint Method
复制标题
使用路点法的最优非线性反馈控制设计
DOI：
--
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
J. Hurtado
中科院分区：
文献类型：
--
作者：
Rajnish N. Sharma;S. Vadali;J. Hurtado
本文讨论了一种创新的思想，即在终端约束下设计非线性动力系统的最优反馈控制律时，将路点格式的概念与作者提出的求解汉密尔顿―雅可比―贝尔曼方程的级数解法相结合。给定问题的整个时间间隔被划分为更小的段，并且使用仅从一个段计算的存储增益在每个段内应用级数解方法。该方法适用于高度非线性系统，包括最小轨道转移问题。几个例子进行了演示，并与相应的开环解决方案的结果进行了比较，以证明所提出的方法的有效性。
This paper discusses an innovative idea of blending the notion of a waypoint scheme with a series solution method developed by the authors for solving the Hamilton―Jacobi―Bellman equation in the context of designing optimal feedback control laws for nonlinear dynamic systems subject to terminal constraints. The overall time interval of the given problem is partitioned into smaller segments, and the series solution method is applied within each segment using stored gains that are computed from one segment only. The methodology is applied to highly nonlinear systems including a minimum orbit transfer problem. Several examples are demonstrated, and the results are compared with the corresponding open-loop solutions to demonstrate the efficacy of the proposed method.