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dc.contributor.authorYan, Hui
dc.contributor.authorRoss, I. Michael
dc.contributor.authorFahroo, Fariba
dc.dateJune 25-27, 2001
dc.date.accessioned2013-03-07T21:43:13Z
dc.date.available2013-03-07T21:43:13Z
dc.date.issued2001-06-25
dc.identifier.urihttp://hdl.handle.net/10945/29666
dc.descriptionThe article of record as published may be located at http://dx.doi.org/10.1109/ACC.2001.946110en_US
dc.descriptionProceedings of the American Control Conference ; Arlington, VA June 25-27, 2001, pp. 2388-2393.en_US
dc.description.abstractWe develop state feedback control laws for linear time-varying systems with quadratic cost criteria by an indirect Legendre pseudospectral method. This method approximates the linear two-point boundary value problem to a system of algebraic equations by way of a differentiation matrix. The algebraic system is solved to generate discrete linear transformations between the states and controls at the Legendre-Gauss-Lobatto points. Since these linear transformations involve simple matrix operations, they can be computed rapidly and efficiently. Two methods are proposed: one that circumvents solving the differential Riccati equation by a discrete solution of the boundary value problem, and another that generates a predictor feedback law without the use of transition matrices. Thus our methods obviate the need for solving the time-intensive backward integration of the matrix Riccati differential equation or inverting ill-conditioned transition matrices. A numerical example illustrates the techniques and demonstrates the accuracy and efficiency of these controllers.en_US
dc.publisherThe American Institute of Aeronautics and Astronautics (AIAA)en_US
dc.relation.ispartofProceedings of the American Control Conference, Arlington, VA June 25-27, 2001
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleOptimal Feedback Control Laws by Legendre Pseudospectral Approximationsen_US
dc.typeConference Paperen_US
dc.contributor.corporateOptimal Guidance and Control Laboratory
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.corporateIEEE
dc.contributor.departmentApplied Mathematics
dc.subject.authorInfinite-horizon, nonlinear, optimal, feedback control is one of the fundamental problems in control theory. In this paper we propose a solution for this problem based on recent progress in real-time optimal control. The basic idea is to perform feedback implementations through a domain transformation technique and a Radau based pseudospectral method. Two algorithms are considered: free sampling frequency and fixed sampling frequency. For both algorithms, a theoretical analysis for the stability of the closed-loop system is provided. Numerical simulations with random initial conditions demonstrate the techniques for a flexible robot arm and a benchmark inverted pendulum problem.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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