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A Practical Algorithm For Designing H∞ Control Laws, Timothy Mclain, Randal W. Beard
A Practical Algorithm For Designing H∞ Control Laws, Timothy Mclain, Randal W. Beard
Faculty Publications
We describe an approximation method for the Hamilton-Jacobi-Isaacs (HJI) equation that results in feedback control. The approximation is accomplished via a two-step successive Galerkin approximation scheme. An application of the technique to the control of the forward motion of an underwater vehicle is described.