Numerical algorithm for nonlinear state feedback H∞ optimal control problem

Milić, Vladimir and Bemporad, Alberto and Kasać, Josip and Šitum, Željko (2012) Numerical algorithm for nonlinear state feedback H∞ optimal control problem. = Numerical algorithm for nonlinear state feedback H∞ optimal control problem. In: 2012 20th Mediterranean Conference on Control and Automation, MED 2012, 03-06.07.2012., Barcelona, Spain.

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Šitum, Željko_Numerical algorithm for nonlinear state feedback H optimal control problem.pdf - Published Version
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Official URL: https://doi.org/10.1109/MED.2012.6265811

Abstract

In this paper, the numerical algorithm based on conjugate gradient method to solve a finite-horizon min-max optimization problem arising in the H ∞ control of nonlinear systems is presented. The feedback control and disturbance variables are formulated as a linear combination of basis functions. The proposed algorithm, which has a backward-intime structure, directly finds very accurate approximations of these feedbacks. Benchmark examples with analytic solutions are provided to demonstrate the effectiveness of the proposed algorithm.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): analytic solution; basis functions; control of nonlinear system; disturbance variables; linear combinations; min-max optimization; nonlinear state; numerical algorithms; optimal control problem; approximation theory; conjugate gradient method; optimal control systems; state feedback; approximation algorithms
Subjects: TECHNICAL SCIENCE
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 30 Apr 2015 06:53
Last Modified: 12 Nov 2018 15:26
URI: http://repozitorij.fsb.hr/id/eprint/3919

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