H-infinity, nonlinear control, algorithm
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.
BYU ScholarsArchive Citation
McLain, Timothy and Beard, Randal W., "A Practical Algorithm for Designing H∞ Control Laws" (1998). All Faculty Publications. 1943.
Ira A. Fulton College of Engineering and Technology
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