Sequential Action Control: Closed-Form Optimal Control for Nonlinear and Nonsmooth Systems

Sequential Action Control: Closed-Form Optimal Control for Nonlinear Systems

This paper presents a means to compute predictive optimal controls on-line and in closed loop for broad classes of differentiable nonlinear systems. Rather than iteratively optimize control sequences to minimize an objective, we derive a closedform expression for the control actions at each instant that optimally improve a tracking objective. As a special case, optimal actions are shown to redu...

Optimal Control of Nonlinear Multivariable Systems

This paper concerns a study on the optimal control for nonlinear systems. An appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. In this fashion, the nonlinear system has been linearized using input-output feedback linearization (IOFL). Then, by utilizing the well developed optimal control theory of linear systems, the compensated ...

Sequential Linear Quadratic Optimal Control for Nonlinear Switched Systems

In this contribution, we introduce an efficient method for solving the optimal control problem for an unconstrained nonlinear switched system with an arbitrary cost function. We assume that the sequence of the switching modes are given but the switching time in between consecutive modes remains to be optimized. The proposed method uses a two-stage approach as introduced by Xu and Antsaklis (200...

Time Optimal Closed - Loop Fuzzy - Control Strategy for Nonlinear Lunar Lander Mission

optimal control of nonlinear multivariable systems

this paper concerns a study on the optimal control for nonlinear systems. an appropriate alternative in order to alleviate the nonlinearity of a system is the exact linearization approach. in this fashion, the nonlinear system has been linearized using input-output feedback linearization (iofl). then, by utilizing the well developed optimal control theory of linear systems, the compensated nonl...