Optimal NPID Stabilization of Linear Systems

B. Armstrong, I. Lauko and B. Wade
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B. Armstrong: University of Wisconsin-Milwaukee
I. Lauko: University of Wisconsin-Milwaukee
B. Wade: University of Wisconsin- Milwaukee

Journal of Optimization Theory and Applications, 2005, vol. 124, issue 2, No 3, 307-322

Abstract: Abstract We consider the problem of finding the optimal, robust stabilization of linear systems within a family of nonlinear feedback laws. Investigation of the efficiency of full-state based and partial-state based so-called NPID feedback schemes proposed for the stabilization of systems in robotic applications has provided the motivation for our work. We prove that, for a given quadratic Lyapunov function and a given family of nonlinear feedback laws, there exist optimal piecewise linear feedbacks that make the generalized Lyapunov derivative of the closed-loop system minimal. The result provides improved stabilization over the nonlinear stabilizing feedback law proposed in Ref. 1 as demonstrated in simulations of the Sarcos Dextrous Manipulator.

Keywords: Nonlinear stabilization; optimal control; NPID control; piecewise linear feedback (search for similar items in EconPapers)
Date: 2005
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DOI: 10.1007/s10957-004-0927-z

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