ON THE SUB-OPTIMAL FEEDBACK CONTROL LAW SYNTHESIS OF UNDERACTUATED SYSTEMS

Abstract

In this paper, a complete solution on the suboptimal feedback control law synthesis for underactuated systems, based on the general optimization framework of the Dynamic Programming Theory is introduced. Control method proposed keeps the general structure of a suboptimal control approach, while the functional de ning performance index is based on the underactuated system energy. Some numerical simulations illustrate our proposed methodology.