TY - GEN
T1 - An Iterative Method for Optimal Control of Nonlinear Quadratic Tracking Problems
AU - Ning, Xin
AU - Bomela, Walter
AU - Li, Shin
N1 - Funding Information:
This work was supported in part by the NSF awards CMMI-1763070, CMMI-1933976, and ECCS-1810202, the AFOSR award FA9550-17-1-0166, and the NIH grant R01GM131403.
Publisher Copyright:
© 2020 AACC.
PY - 2020/7
Y1 - 2020/7
N2 - In this paper, we investigate an iterative method for computing optimal controls for general affine nonlinear quadratic tracking problems. The control law is computed iteratively by solving a sequence of linear quadratic tracking problems and, in particular, it consists of solving a set of coupled differential equations derived from the Hamilton-Jacobi-Bellman equation. The convergence of the iterative scheme is shown by constructing a contraction mapping and using the fixed-point theorem. The versatility and effectiveness of the proposed method is demonstrated in numerical simulations of three structurally different nonlinear systems.
AB - In this paper, we investigate an iterative method for computing optimal controls for general affine nonlinear quadratic tracking problems. The control law is computed iteratively by solving a sequence of linear quadratic tracking problems and, in particular, it consists of solving a set of coupled differential equations derived from the Hamilton-Jacobi-Bellman equation. The convergence of the iterative scheme is shown by constructing a contraction mapping and using the fixed-point theorem. The versatility and effectiveness of the proposed method is demonstrated in numerical simulations of three structurally different nonlinear systems.
UR - http://www.scopus.com/inward/record.url?scp=85089559920&partnerID=8YFLogxK
U2 - 10.23919/ACC45564.2020.9147364
DO - 10.23919/ACC45564.2020.9147364
M3 - Conference contribution
AN - SCOPUS:85089559920
T3 - Proceedings of the American Control Conference
SP - 76
EP - 81
BT - 2020 American Control Conference, ACC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 American Control Conference, ACC 2020
Y2 - 1 July 2020 through 3 July 2020
ER -