McCaffrey, D. and Banks, S.P. (1998) Lagrangian Manifolds and Asymptotically Optimal Stabilizing Feedback Control. Research Report. ACSE Research Report 722 . Department of Automatic Control and Systems Engineering
Abstract
In this paper, under some local controllability hypotheses, we present an algorithm for finding an approximation to the optimal control for an infinite horizon linear analytic optimal regulator problem. This approximation is asymptotically optimal, so that it converges to the optimal control close to the origin and is extremely simple to to implement as it involves only the solution of algebraic Riccati equations. We demonstrate its effectiveness on a simulated inverted pendulum and present a test for determining in advance a stability region.
Metadata
Item Type: | Monograph |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) > ACSE Research Reports |
Depositing User: | MRS ALISON THERESA BARNETT |
Date Deposited: | 08 Dec 2014 11:48 |
Last Modified: | 26 Oct 2016 00:01 |
Status: | Published |
Publisher: | Department of Automatic Control and Systems Engineering |
Series Name: | ACSE Research Report 722 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:82472 |