跟踪问题最优控制律精细积分.PDF

22 2 Vol. 22 No. 2 200 1 3 ACT A AERONA UT ICA ET A ST RONA UT ICA SINICA Mar . 200 1 : 1000-6893( 200 1) 02-0113-04 , ( , 116023) PRECISE INTEGRATION FOR CONTROL LAW OF OPTIMAL TRACKING - , - WU Zhi an ZHONG Wan x ie ( Stat e Key Lab. of Structural Analy sis for Industrial Equipment , Dalian Univ . of T echnolo y, Dalian116023, China) : Riccati , , , , Riccati , , : ; ; Riccati ; ; : V249: A Abstract: T o obt ain t he control law of finit e-horizon optimal trackin problems, the Riccati differential equa- . tion and t he different ial equat ion of the external drivin function must be solved at first T he former is a non- . , linear mat rix different ial equation and the latter is a linear time varyin one The precise inte ration m ethod w hich is based on the t heory of analo y between struct ural mechanics and optimal control, can be employ ed to solve these differential equations precisely and efficient ly . T his method borrow s ideas from the al orithm . - of computational structural mechanics One distin uishin feature of the method is that reat chan e of step . size almost does not affect the precision of the numerical solution of Riccati different ial equation Anot her feature is that the linear t ime vary in diffe