Series solution of a class of nonlinear optimal regulators

A class of nonlinear optimal regulators is studied by means of a series expansion of the equations of motion, the optimal cost function, and the optimal control function, in a Hamilton-Jacobi context. An indicial formulation of the problem based on symmetric tensor representations is given, and an a...

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Bibliographic Details
Published in:Journal of optimization theory and applications 1996-11, Vol.91 (2), p.321-345
Main Authors: SPENCER, B. F, TIMLIN, T. L, SAIN, M. K, DYKE, S. J
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Optimal control
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Summary:A class of nonlinear optimal regulators is studied by means of a series expansion of the equations of motion, the optimal cost function, and the optimal control function, in a Hamilton-Jacobi context. An indicial formulation of the problem based on symmetric tensor representations is given, and an algorithm for solution of the resulting equations is developed. Associated computational issues are also discussed. An example for the optimal control of a double-inverted pendulum is presented to illustrate the approach. (Author)
ISSN:0022-3239
1573-2878
DOI:10.1007/bf02190099