Design of Optimal Tracking Controller for Systems with Control-Affine Form
- Resource Type
- Conference
- Authors
- Zhao, Yandong; Chen, Xianli
- Source
- 2007 IEEE International Conference on Automation and Logistics Automation and Logistics, 2007 IEEE International Conference on. :2472-2476 Aug, 2007
- Subject
- Robotics and Control Systems
Computing and Processing
Transportation
Signal Processing and Analysis
Optimal control
Control systems
Nonlinear control systems
Vectors
Nonlinear systems
Trajectory
Nonlinear dynamical systems
Iterative methods
State feedback
Aircraft
optimal tracking control
control affine
successive approximation approach
- Language
- ISSN
- 2161-8151
2161-816X
This paper deals with the optimal tracking control (OTC) problem for a class of nonlinear system with control-affine form. The feedforward compensation technique is used in order to make the system's output asymptotically track the desired trajectory. An adjoint vector is introduced to compensate the control-affine nonlinearity of the dynamic system. The compensation term is obtained by introducing an iterative procedure for solving a sequence of linear inhomogeneous two-point boundary value (TPBV) problems using the successive approximation approach (SAA). The OTC law obtained consists of an accurate state feedback term, a feedforward term and a compensation term which is the limit of the adjoint vector sequence. Using a finite-time iteration of the adjoint vector among optimal solution sequence, we can obtain a suboptimal tracking control (STC) law. An aircraft model is employed to test the validity of this method.