Keywords

H-infinity, nonlinear control, algorithm

Abstract

We describe an approximation method for the Hamilton-Jacobi-Isaacs (HJI) equation that results in feedback control. The approximation is accomplished via a two-step successive Galerkin approximation scheme. An application of the technique to the control of the forward motion of an underwater vehicle is described.

Original Publication Citation

Beard, R. and McLain, T. A Practical Algorithm for Designing H∞ Control Laws, Proceedings of the American Control Conference, vol. 6, pp. 3742-3743, June 1998, Philadelphia, Pennsylvania.

Document Type

Conference Paper

Publication Date

1998-6

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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