Transition to nonlinear /spl Hscr//sub /spl infin// optimal control from inverse-optimal solution for Euler-Lagrange system

摘要

One of recent achievements in the field of nonlinear /spl Hscr//sub /spl infin// optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-Jacobi-Isaacs (HJI) equation associated to the so-called nonlinear /spl Hscr//sub /spl infin// inverse-optimal control. In this paper, we address the problem of nonlinear /spl Hscr//sub /spl infin// optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By introducing a technique of control weight loosening and state weight strengthening, we show that the associated HJI inequality, not the equation, for nonlinear /spl Hscr//sub /spl infin// optimal control can be solved also analytically using the inverse-optimal solution.