A Practical Algorithm for Designing Nonlinear H 1 Control Laws
نویسندگان
چکیده
In this paper we describe a novel approach for designing nonlinear H 1 control laws. These robust controllers are obtained by numerically approximating the solution to the Hamilton-Jacobi-Isaacs (HJI) equation and result in nonlinear control laws in feedback form. The approximation is accomplished via a two-step successive Galerkin approximation scheme. An application of the technique to the control of the forward motion of an underwater vehicle is described.
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تاریخ انتشار 1998