Optimal Nonlinear Feedback Control Design Using a Waypoint Method Academic Article uri icon


  • This paper discusses an innovative idea of blending the notion of a waypoint scheme with a series solution method developed by the authors for solving the Hamilton-Jacobi-Bellman equation in the context of designing optimal feedback control laws for nonlinear dynamic systems subject to terminal constraints. The overall time interval of the given problem is partitioned into smaller segments, and the series solution method is applied within each segment using stored gains that are computed from one segment only. The methodology is applied to highly nonlinear systems including a minimum orbit transfer problem. Several examples are demonstrated, and the results are compared with the corresponding open-loop solutions to demonstrate the efficacy of the proposed method. Copyright 2011 by Rajnish Sharma, Srinivas R. Vadali, and J. E. Hurtado.

published proceedings


author list (cited authors)

  • Sharma, R., Vadali, S. R., & Hurtado, J. E.

citation count

  • 8

complete list of authors

  • Sharma, Rajnish||Vadali, Srinivas R||Hurtado, John E

publication date

  • May 2011