Robust nonlinear \(H^{\infty}\) control design via stable manifold method (Q1664962)

Summary: This paper proposes a systematic numerical method for designing robust nonlinear \(H^{\infty}\) controllers without a priori lower-dimensional approximation with respect to solutions of the Hamilton-Jacobi equations. The method ensures the solutions are globally calculated with arbitrary accuracy in terms of the stable manifold method that is a solver of Hamilton-Jacobi equations in nonlinear optimal control problems. In this realization, the existence of stabilizing solutions of the Hamilton-Jacobi equations can be derived from some properties of the linearized system and the equivalent Hamiltonian system that is obtained from a transformation of the Hamilton-Jacobi equation. A numerical example is shown to validate the design method.