Suboptimal Control and Filtering for Nonlinear Systems

• Main Authors: Chen, Jau-Rong, 陳昭蓉
• Other Authors: Huang F-Y
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/66651928923386532584

碩士 === 國立中央大學 === 機械工程學系 === 84 === This paper presents results on the regulation, tracking and estimation problem of a class of nonlinear systems. The controller design extends the linear quadratic regulator to the case in which the underlying system is nonlinear. The estimator design extends the Kalman filter to the case in which the underlying system is also nonlinear. In the context of control, it proves that (1) the closed-loopsystem is quadratically stable in the sense that all the signals involved are bounded and (2) the system state converges to zero asymptotically if the controlinput is squared integrable along the state trajectory. In the context of estimation,an upper bound covariance matrix equation for the estimation error is derived to account for the nonlinearity of the underlying system. Finally, the proposed schemes are applied to several nonlinear systems to confirm the validity of the approach.