Design of Optimal Tracking Controller for Systems with Control-Affine Form
This paper deals with the optimal tracking control (OTC) problem for a class of nonlinear system with controlaffine form. The feedforward compensation technique is used in order to make the system’s output asymptotically track the desired trajectory. An adjoint vector is introduced to compensate the control-affine nonlinearity of the dynamic system. The compensation term is obtained by introducing an iterative procedure for solving a sequence of linear inhomogeneous twopoint boundary value (TPBV) problems using the successive approximation approach (SAA). The OTC law obtained consists of an accurate state feedback term, a feedforward term and a compensation term which is the limit of the adjoint vector sequence. Using a finite-time iteration of the adjoint vector among optimal solution sequence, we can obtain a suboptimal tracking control (STC) law. An aircraft model is employed to test the validity of this method.
Nonlinear systems optimal tracking control control affine successive approximation approach
Yandong Zhao Xianli Chen
College of Automation and Electronic Engineering Qingdao University of Science and Technology Qingda College of Information Science and Technology Qingdao University of Science and Technology Qingdao,
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）