An optimized variant of the State Dependent Riccati Equations (SDREs) approach for nonlinear optimal feedback stabilization is presented. The proposed method is based on the construction of equivalent semilinear representations associated to the dynamics and their affine combination. The optimal combination is chosen to minimize the discrepancy between the SDRE control and the optimal feedback law stemming from the solution of the corresponding Hamilton Jacobi Bellman (HJB) equation. Numerical experiments assess effectiveness of the method in terms of stability of the closed-loop with near-to-optimal performance.

Optimizing semilinear representations for State-dependent Riccati Equation-based feedback control

Saluzzi L.
2022

Abstract

An optimized variant of the State Dependent Riccati Equations (SDREs) approach for nonlinear optimal feedback stabilization is presented. The proposed method is based on the construction of equivalent semilinear representations associated to the dynamics and their affine combination. The optimal combination is chosen to minimize the discrepancy between the SDRE control and the optimal feedback law stemming from the solution of the corresponding Hamilton Jacobi Bellman (HJB) equation. Numerical experiments assess effectiveness of the method in terms of stability of the closed-loop with near-to-optimal performance.
2022
Settore MAT/08 - Analisi Numerica
25th IFAC Symposium on Mathematical Theory of Networks and Systems, MTNS 2022
deu
2022
IFAC-PapersOnLine
Elsevier B.V.
feedback control; Hamilton Jacobi Bellman equation; nonlinear optimal control; State Dependent Riccati equation
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11384/131689
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