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arXiv · 1611.08056

Optimal Control with Limited Sensing via Empirical Gramians and Piecewise Linear Feedback

Atiye Alaeddini·Kristi A. Morgansen·Mehran Mesbahi
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Abstract

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.

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Atiye Alaeddini, Kristi A. Morgansen, Mehran Mesbahi. 2016-11-24. Optimal Control with Limited Sensing via Empirical Gramians and Piecewise Linear Feedback. https://arxiv.org/abs/1611.08056

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