A New Method for Suboptimal Control of a Class of Nonlinear Systems

Ming Xin
S. N. Balakrishnan, Missouri University of Science and Technology

This document has been relocated to http://scholarsmine.mst.edu/mec_aereng_facwork/3340

There were 44 downloads as of 27 Jun 2016.


In this paper, a new nonlinear control synthesis technique (θ - D approximation) is presented. This approach achieves suboptimal solutions to nonlinear optimal control problems in the sense that it solves the Hamilton-Jacobi-Bellman (HJB) equation approximately by adding perturbations to the cost function. By manipulating the perturbation terms both semi-globally asymptotic stability and suboptimality properties can be obtained. The convergence and stability proofs are given. This method overcomes the large control for large initial states problem that occurs in some other Taylor expansion based methods. It does not need time-consuming online computations like the state dependent Riccati equation (SDRE) technique. A vector problem is investigated to demonstrate the effectiveness of this new technique.