A new method for suboptimal control of a class of non-linear system.pdfVIP

OPTIMAL CONTROL APPLICATIONS AND METHODS Optim. Control Appl. Meth. 2005; 26:55–83 Published online 29 December 2004 in Wiley InterScience . DOI: 10.1002/oca.750 A new method for suboptimal control of a class of non-linear systems Ming Xinz, and S. N. Balakrishnann,y, Department of Mechanical and Aerospace Engineering, University of Missouri-Rolla, 1870 Miner Circle, Rolla, MO 65409-1350, U.S.A. SUMMARY In this paper, a new non-linear control synthesis technique y–D approximation is discussed. This approach achieves suboptimal solutions to a class of non-linear optimal control problems characterized by a quadratic cost function and a plant model that is a?ne in control. An approximate solution to the Hamilton–Jacobi–Bellman HJB equation is sought by adding perturbations to the cost function. By manipulating the perturbation terms both semi-global asymptotic stability and suboptimality properties are obtained. The new technique overcomes the large-control-for-large-initial-states problem that occurs in some other Taylor series expansion based methods. Also this method does not require excessive online computations like the recently popular state dependent Riccati equation SDRE technique. Furthermore, it provides a closed-form non-linear feedback controller if ?nite number of terms are taken in the series expansion. A scalar problem and a 2-D benchmark problem are investigated to demonstrate the e?ectiveness of this new technique. Both stability and convergence proofs are given. Copyright # 2004 John Wiley Sons, Ltd. KEY WORDS: non-linear systems; optimal control; perturbation methods 1. INTRODUCTION Numerous techniques exist for the synthesis of control laws for non-linear systems. Optimal control of non-linear dynamics with respect to a mathematical index of performance has also been extensively investigated in the last few de