EFFECTIVE FINITE HORIZON LINEAR-QUADRATIC CONTINUOUS TERMINAL CONTROL

Abstract

An effective algorithm for the finite-horizon linear quadratic continuous terminal control is proposed. It is the combination of existing continuous soft and hard terminal control. We apply the algorithm to the automatic landing control of OH-6A helicopters. Numerical demonstration shows that, whether noise exists or not, the algorithm has less computation time and less feedback gains than existing hard terminal control while generally achieving the same terminal accuracy. The optimization problem which represents the hard terminal control can be addressed by sweep method and transit matrix method. It is also discovered that transit matrix method is a crucial point for improving terminal accuracy.