2016/11/24 by Atiye Alaeddini, Kristi A. Morgansen, Alaeddini, Atiye +3
Engineering · Physics and Astronomy · #Advanced Control Systems Optimization #Control Systems and Identification #FOS: Electrical engineering #Model Reduction and Neural Networks #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1611.08056
openalex publication_date 2016/11/24 · openalex created_date 2017/08/08 · openalex updated_date 2026/08/01
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to ensuring stability of the closed loop system. A recursive algorithm is then proposed to obtain an optimal state feedback controller to maximize the resulting non-quadratic cost functional. The main contribution of the paper is presenting a control synthesis procedure that provides closed loop asymptotic stability, on one hand, and empirical observability of the system, as a transient performance criteria, on the other.