Control of nonlinear uncertain object in the problem of motion along the given trajectory

We formulate the optimal control problem for a class of nonlinear objects that can be represented as objects with linear structure and state-dependent coefficients. We assume that the system is subjected to uncontrollable bounded disturbances. The linear structure of the transformed nonlinear system...

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Bibliographic Details
Published inAutomation and remote control Vol. 76; no. 1; pp. 1 - 15
Main Author Afanas’ev, V. N.
Format Journal Article
LanguageEnglish
Published Moscow Pleiades Publishing 2015
Subjects
CAE) and Design
Calculus of Variations and Optimal Control; Optimization
Computer-Aided Engineering (CAD
Control
Differential games
Disturbances
Dynamical systems
Mathematical analysis
Mathematics
Mathematics and Statistics
Mechanical Engineering
Mechatronics
Nonlinear Systems
Nonlinearity
Optimal control
Remote control
Riccati equation
Robotics
Systems Theory
Trajectories
Quadratic Quality
Nonlinear Object
Optimal Control Problem
17th IFAC
Remote Control
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Summary:We formulate the optimal control problem for a class of nonlinear objects that can be represented as objects with linear structure and state-dependent coefficients. We assume that the system is subjected to uncontrollable bounded disturbances. The linear structure of the transformed nonlinear system and the quadratic quality functional let us, in the optimal control synthesis, to pass from Hamilton-Jacobi-Isaacs equations to a state-dependent Riccati equation. Control of nonlinear uncertain object in the problem of moving along a given trajectory is considered using the theory of differential games. We also give an example that illustrates how theoretical results of this work can be used.
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ISSN:0005-1179
1608-3032
DOI:10.1134/S0005117915010014