周期的な参照信号に対する非線形最適追従制御

—安定多様体法と射撃法によるアプローチ—

抄録

An approach to optimal design of a nonlinear servo system is proposed with the stable-manifold method and a shooting method. In particular, a shooting method is used for reduction of trials and errors in the stable-manifold method, which is a promising method for nonlinear optimal control. A basic idea is to apply the approach of Sakamoto-Rehák to nonlinear optimal tracking of a periodic reference signal. However, the result is interpreted in terms of regulation of a periodic error system so that a shooting method becomes applicable. As an illustrative example, tracking control of a satellite is considered and the result is compared with that of the linear optimal tracking control.