Journal ArticleDOI
Suboptimal control for the nonlinear quadratic regulator problem
Andreas Wernli,Gerald Cook +1 more
Reads0
Chats0
TLDR
In this article, a suboptimal solution to the nonlinear quadratic regulator and tracking problem with infinite final time is investigated, and it is shown that with certain restrictions the sub-optimal control law exists and is a continuous function of state and time.About:
This article is published in Automatica.The article was published on 1975-01-01. It has received 156 citations till now. The article focuses on the topics: Algebraic Riccati equation & Linear-quadratic-Gaussian control.read more
Citations
More filters
Journal ArticleDOI
State-Dependent Riccati Equation (SDRE) Control: A Survey
TL;DR: State-Dependent Riccati Equation (SDRE) strategies have emerged as general design methods that provide a systematic and effective means of designing nonlinear controllers, observers, and filters.
Journal ArticleDOI
Survey of State-Dependent Riccati Equation in Nonlinear Optimal Feedback Control Synthesis
TL;DR: Infinite-time horizon nonlinear optimal control (ITHNOC) presents a viable option for synthesizing stabilizing controllers for nonlinear systems by making a state-input tradeoff, where the objective is to minimize the cost given by a performance index.
Journal ArticleDOI
Systematic and effective design of nonlinear feedback controllers via the state-dependent Riccati equation (SDRE) method
TL;DR: The capabilities and design flexibility of SDRE control are emphasized, addressing the issues on systematic selection of the design matrices and going into detail concerning the art of systematically carrying out an effective SDRE design for systems that both do and do not conform to the basic structure and conditions required by the method.
Journal ArticleDOI
Nonlinear feedback controllers and compensators: a state-dependent Riccati equation approach
TL;DR: This paper addresses the effectiveness and potential of the SDRE technique for the design of nonlinear compensator-based feedback controllers and the asymptotic convergence of the estimator and the compensated system.
Journal ArticleDOI
Contact-aware nonlinear control of dynamic characters
TL;DR: A locomotion system that generates high-quality animation of agile movements using nonlinear controllers that plan through frequent ground contacts that produce a discontinuous search space is introduced.
References
More filters
Journal ArticleDOI
Approximation Methods in Optimal Control I. Sub-optimal Control†
TL;DR: In this paper, a linear time and state dependent approximation to a non-linear and non-stationary system is optimized with respect to a quadratic performance index by treating it as an instantaneously linear stationary system.
Journal ArticleDOI
Singular perturbation method for reducing the model order in optimal control design
Petar V. Kokotovic,P. Sannuti +1 more
TL;DR: In this paper, the optimal control for a high-order model of the plant is approximated by some functions obtained from two low-order models, the second being the sensitivity model.
Journal ArticleDOI
An Approach to Sub-optimal Feedback Control of Non-linear Systems
TL;DR: In this article, a nonlinear system suboptimal feedback control technique based on method for determining approximate solutions for Hamilton-Jacobi-Bellman equation is proposed for nonlinear systems.
Journal ArticleDOI
A method for suboptimal design of nonlinear feedback systems
TL;DR: In this article, an approximation method is presented to construct an optimal state regulator for a nonlinear system with quadratic performance index, where the nonlinearity is taken to be a perturbation to the system, and a parameter @e is introduced to stand for it.
Journal ArticleDOI
Correspondence item: Suboptimal feedback control for nonlinear systems
TL;DR: In this paper, a method for synthesizing suboptimal feedback control laws for nonlinear systems optimized with respect to a quadratic performance index is presented, which allows the designer to easily calculate a second-order approximation to the optimal control.