抄録
This paper deals with the optimal control problems of the nonlinear system with state or input norm constraints. To address the constrants, nonlinear weighting functions are introduced to a cost function. An optimal control law is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation. The behavior of the proposed controller coincides with that of linear optimal controller within the constraints. The effectiveness of the proposed method is verified by a numerical example and a DC motor experiment.
