Keywords

nonlinear control, nonlinear tracking

Abstract

This paper presents a novel approach for developing tracking controllers for nonlinear systems. 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 specified desired trajectory and cost function. Experimental results are presented for a nonlinear pendulum system.

Original Publication Citation

McLain, T., Bailey, C., and Beard, R. Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller, Proceedings of the American Control Conference, vol. 4, pp. 2847-2851, June 1999, San Diego, California.

Document Type

Conference Paper

Publication Date

1999-6

Publisher

IEEE

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

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