Abstract
The optimal control of nonlinear input-affine systems is tackled in the presence of input saturation. The problem is formulated within the framework of the Dynamic Programming approach, which hinges upon the solution of the Hamilton-Jacobi-Bellman partial differential equation. The notion of Dynamic Value function is extended herein to inputaffine nonlinear systems in the presence of input saturation, providing, in general, a time-varying dynamic control law that approximates the solution of the optimal control problem with bounded input. Then, the second part of the paper discusses a systematic procedure to construct a Dynamic Value function without requiring the solution of any partial differential equation or inequality. This construction relies upon the notion of algebraic solution of the Hamilton-Jacobi-Bellman partial differential equation.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of Mechatronics 2012 |
| Number of pages | 6 |
| Publication status | Published - Sept 2012 |
Fields of science
- 203 Mechanical Engineering
- 202034 Control engineering
- 202012 Electrical measurement technology
- 206 Medical Engineering
- 202027 Mechatronics
- 202003 Automation
- 203027 Internal combustion engines
- 207109 Pollutant emission
JKU Focus areas
- Mechatronics and Information Processing