Enhancing optimal controllers via techniques from robust and adaptive control

J. Imae*, L. Irlicht, G. Obinata, J. B. Moore

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

Abstract

A general framework to enhance the robustness of an optimal control law is presented, with emphasis on the nonlinear case. The framework allows a blending of offline nonlinear optimal control, online linear robust feedback control for regulation about the optimal trajectory, and online adaptive techniques to enhance performance/robustness. Some general fundamental stability properties are developed which are new, at least for the nonlinear plant and linear robust controller case. Also, performance enhancement results in the presence of unmodeled linear dynamics based on an averaging analysis are reviewed. A convergence analysis based on averaging theory appears possible in principle for any specific nonlinear system. Certain model-reference adaptive control algorithms come out as special cases. A nonlinear optimal control problem is studied to illustrate the efficacy of the techniques, and the possibility of further performance enhancement based on functional learning is noted.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2476-2481
Number of pages6
Volume3
ISBN (Print)0780304500
Publication statusPublished - 1991
Externally publishedYes
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: 11 Dec 199113 Dec 1991

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period11/12/9113/12/91

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  • Cite this

    Imae, J., Irlicht, L., Obinata, G., & Moore, J. B. (1991). Enhancing optimal controllers via techniques from robust and adaptive control. In Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 2476-2481). Institute of Electrical and Electronics Engineers (IEEE).