In this section
@inproceedings{Scarciotti:2013:10.3182/20130904-3-FR-2041.00037,
author = {Scarciotti, G and Astolfi, A},
doi = {10.3182/20130904-3-FR-2041.00037},
pages = {199--204},
title = {Approximate finite-horizon optimal control for input-affine nonlinear systems with input constraints},
url = {http://dx.doi.org/10.3182/20130904-3-FR-2041.00037},
year = {2013}
}
TY - CPAPER
AB - The finite-horizon optimal control problem with input constraints consists in controlling the state of a dynamical system over a finite time interval (possibly unknown) minimizing a cost functional, while satisfying hard constraints on the input. For linear systems the solution of the problem often relies upon the use of bang-bang control signals. For nonlinear systems the "shape" of the optimal input is in general not known. The control input can be found solving an Hamilton-Jacobi-Bellman (HJB) partial differential equation (pde): it typically consists of a combination of bang-bang arcs and singular arcs. In the paper a methodology to approximate the solution of the HJB pde arising in the finite-horizon optimal control problem with input constraints is proposed. This approximation yields a dynamic state feedback law. The theory is illustrated by means of an example: the minimum time optimal control problem for an industrial wastewater treatment plant. © IFAC.
AU - Scarciotti,G
AU - Astolfi,A
DO - 10.3182/20130904-3-FR-2041.00037
EP - 204
PY - 2013///
SN - 1474-6670
SP - 199
TI - Approximate finite-horizon optimal control for input-affine nonlinear systems with input constraints
UR - http://dx.doi.org/10.3182/20130904-3-FR-2041.00037
ER -