Abstract
A class of nonlinear optimal regulators is studied by means of a series expansion of the equations of motion, the optimal cost function, and the optimal control function in a Hamilton-Jacobi context. An indicial formulation of the problem based on symmetric tensor representations is given, and an algorithm for solution of the resulting equations is developed. Associated computational issues are also discussed. An example for the optimal control of a double inverted pendulum is presented to illustrate the approach.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 321-345 |
| Number of pages | 25 |
| Journal | Journal of Optimization Theory and Applications |
| Volume | 91 |
| Issue number | 2 |
| DOIs | |
| State | Published - Nov 1996 |
| Externally published | Yes |
Keywords
- Hamilton-Jacobi-Bellman equation
- Inverted pendulum
- Nonlinear optimal regulator
- Tensor expansion
ASJC Scopus subject areas
- Management Science and Operations Research
- Control and Optimization
- Applied Mathematics