A new approach to nonlinear optimal feedback law (Q1821066)
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scientific article; zbMATH DE number 3997647
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | A new approach to nonlinear optimal feedback law |
scientific article; zbMATH DE number 3997647 |
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A new approach to nonlinear optimal feedback law (English)
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1986
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For a fixed-time free endpoint optimal control problem it is shown that the optimal feedback control satisfies a system of ordinary differential equations. They are obtained using an elimination procedure of the adjoint vector which appears linearly in a set of differential equations. These equations, involving Lie brackets of vector fields, are derived from the maximum principle. An application of this approach to robotics is given.
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fixed-time free endpoint optimal control problem
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optimal feedback control
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Lie brackets
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maximum principle
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robotics
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