A new approach to nonlinear optimal feedback law
type: Item
instance of: scholarly article
title: A new approach to nonlinear optimal feedback law
zbMATH Open document ID: 0615.93036
DOI: 10.1016/0167-6911(86)90060-5
author: Marc Rouff
author: Françoise Lamnabhi-Lagarrigue
published in: Systems \& Control Letters
publication date: 1986-01-01T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93C10
Mathematics Subject Classification ID: 49K15
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93D15
zbMATH DE Number: 3997647
zbMATH Keywords: fixed-time free endpoint optimal control problem
zbMATH Keywords: optimal feedback control
zbMATH Keywords: Lie brackets
zbMATH Keywords: maximum principle
zbMATH Keywords: robotics
describes a project that uses: PASVA3
MaRDI profile type: Publication
full work available at URL: 0167-6911(86)90060-5
OpenAlex ID: W2064411125
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description: scientific article; zbMATH DE number 3997647