H-optimal tracking control techniques for nonlinear underactuated systems

G. J. Toussaint, T. Başar, F. Bullo

Research output: Contribution to journalConference article

Abstract

This paper presents new techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state measurements are available for feedback. A state feedback controller is developed and then it is converted to an imperfect state measurement feedback controller. The state feedback tracking control law uses an H-optimal design and produces a locally exponentially stable closed-loop system. The imperfect state measurement feedback controller combines the state feedback control law with an H-filter to estimate the states and achieves a modified form of disturbance attention. The state estimator exploits a unique structure in the nonlinear equations of motion to develop a direct solution. The MATLAB simulations illustrate both control algorithms for an underactuated ship model.

Original languageEnglish (US)
Pages (from-to)2078-2083
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - 2000
Event39th IEEE Confernce on Decision and Control - Sysdney, NSW, Australia
Duration: Dec 12 2000Dec 15 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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