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. © 2011 AACC American Automatic Control Council.
Sassano, M., Astolfi, A. (2011). Dynamic disturbance attenuation and approximate optimal control for fully actuated mechanical systems. In Proceedings of the American Control Conference (pp.894-899).
Dynamic disturbance attenuation and approximate optimal control for fully actuated mechanical systems
Sassano, M.;Astolfi, A.
2011-01-01
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. © 2011 AACC American Automatic Control Council.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
