Transition to nonlinear H-inf optimal control from inverse optimal solution for Euler-Lagrange system
نویسندگان
چکیده
One of recent achievements in the field of nonlinear H∞ optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-JacobiIsaccs (HJI) equation associated to the so-called nonlinear H∞ inverse-optimal control [1]. In this paper, we address the problem of nonlinear H∞ optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By introducing a technique of control weight loosening and state weight strengthening, we will show that the associated HJI inequality, not the equation, for nonlinear H∞ optimal control can be solved also analytically using the inverse-optimal solution.
منابع مشابه
Analytic Nonlinear Inverse-Optimal Control for Euler–Lagrange System
Recent success in nonlinear control design is applied to the control of Euler–Lagrange systems. It is known that the existence of optimal control depends on solvability of the so-called Hamilton–Jacobi–Isaccs (HJI) partial differential equation. In this article, the associated HJI equation for nonlinear inverse-optimal control problem for Euler–Lagrangian system is solved analytically. The resu...
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