Successive Galerkin Approximation (SGA) provides a means for approximating solutions to the Hamilton-Jacobi-Bellman (HJB) equation. The SGA strategy is applied to the development of optimal control laws for an electro-hydraulic positioning system (EHPS) having nonlinear dynamics. The theory underlying the SGA strategy is developed. Equations of motion for an EHPS are presented and simulation results are compared with those obtained experimentally. Results demonstrating the experimental application of the SGA synthesis strategy to an EHPS under a variety of operating conditions are presented. These results are compared to those obtained from a linear quadratic regulator developed from linearized model equations.
Application of an Optimal Control Synthesis Strategy to an Electro-Hydraulic Positioning System
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division February 7, 2000. Associate Editor: P. Voulgaris.
Abbott, R. D., McLain, T. W., and Beard, R. W. (February 7, 2000). "Application of an Optimal Control Synthesis Strategy to an Electro-Hydraulic Positioning System ." ASME. J. Dyn. Sys., Meas., Control. September 2001; 123(3): 377–384. https://doi.org/10.1115/1.1387446
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