A Practical Algorithm for Designing H∞ Control Laws

Authors

Timothy McLain, Mechanical Engineering Department, Brigham Young UniversityFollow
Randal W. Beard, Department of Electrical Engineering, Brigham Young UniversityFollow

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.

BYU ScholarsArchive Citation

McLain, Timothy and Beard, Randal W., "A Practical Algorithm for Designing H∞ Control Laws" (1998). Faculty Publications. 1943.
https://scholarsarchive.byu.edu/facpub/1943

Document Type

Conference Paper

Publication Date

1998-6

Permanent URL

http://hdl.lib.byu.edu/1877/3894

Publisher

IEEE

Language

English

College

Ira A. Fulton College of Engineering and Technology

Department

Mechanical Engineering

University Standing at Time of Publication

Assistant Professor

Copyright Status

© Copyright 2017 IEEE - All rights reserved. This is the author's submitted version of this article. The definitive version can be found at http://ieeexplore.ieee.org/document/703342/

Copyright Use Information

http://lib.byu.edu/about/copyright/