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.
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Communicated by F. E. Udwadia
This research was partially supported by National Science Foundation Grant BCS 93-01584 and by the Frank M. Freimann Chair in Electrical Engineering at the University of Notre Dame. The authors thank the reviewers for their careful and constructive comments on the paper.
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Spencer, B.F., Timlin, T.L., Sain, M.K. et al. Series solution of a class of nonlinear optimal regulators. J Optim Theory Appl 91, 321–345 (1996). https://doi.org/10.1007/BF02190099
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DOI: https://doi.org/10.1007/BF02190099