A new approach to nonlinear optimal feedback law
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.
fixed-time free endpoint optimal control problem
scientific article; zbMATH DE number 3997647