Optimal nonlinear feedback controller design using a waypoint scheme Conference Paper 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 systems with 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 with the use of stored gains computed for one segment only. The methodology is applied to highly nonlinear systems including a minimum-fuel 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.

published proceedings


author list (cited authors)

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

complete list of authors

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

publication date

  • December 2008