nonlinear control, nonlinear tracking
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.
BYU ScholarsArchive Citation
McLain, Timothy; Beard, Randal W.; and Bailey, Christopher A., "Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller" (1999). All Faculty Publications. 1936.
Ira A. Fulton College of Engineering and Technology
IEEE ©2017. All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=786592
Copyright Use Information