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Regular version of the site

Article

Control of Nonlinear Uncertain Object in the Problemof Motion along Given Trajectory

Automation and Remote Control. 2015. Vol. 76. No. 1. P. 1-15.
We formulate the optimal control problem for a class of nonlinear objects that can be represented as objects with linear structure and state-dependent coefficients. We assume that the system is subjected to uncontrollable bounded disturbances. The linear structure of the transformed nonlinear system and the quadratic quality functional let us, in the optimal control synthesis, to pass from Hamilton–Jacobi–Isaacs equations to a state-dependent Riccati equation. The localization and tracking problem along a given trajectory for a nonlinear object under the influence of uncontrollable disturbances is considered as a differential game. We also give an example that illustrates how theoretical results of this work can be used.