Synthesis and Experimental Testing of a Nonlinear Optimal Tracking Controller
نویسندگان
چکیده
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 spec-iied desired trajectory and cost function. Experimental results are presented for a nonlinear pendulum system.
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تاریخ انتشار 1999