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Dynamic disturbance attenuation and approximate optimal control for fully actuated mechanical systems | IEEE Conference Publication | IEEE Xplore

Dynamic disturbance attenuation and approximate optimal control for fully actuated mechanical systems


Abstract:

The standard solutions of the L2-disturbance attenuation and optimal control problems hinge upon the computation of the solution of a Hamilton-Jacobi (HJ), Hamilton Jacob...Show More

Abstract:

The standard solutions of the L2-disturbance attenuation and optimal control problems hinge upon the computation of the solution of a Hamilton-Jacobi (HJ), Hamilton Jacobi-Bellman (HJB) respectively, partial differential equation or inequality, which may be difficult or impossible to obtain in closed-form. Herein we focus on the matched disturbance attenuation and on the optimal control problems for fully actuated mechanical systems. We propose a methodology to avoid the solution of the resulting HJ (HJB, respectively) partial differential inequality by means of a dynamic state feedback. It is shown that for planar mechanical systems the solution of the matched disturbance attenuation and the optimal control problems can be given in closed-form.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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