TY - JOUR
T1 - A generalized sufficient condition for time-optimal control
AU - Sundar, S.
AU - Shiller, Z.
PY - 1996/6
Y1 - 1996/6
N2 - This paper presents a sufficient optimality condition for timeoptimal feedback control, which generalizes the existing sufficient conditions, i.e., the HJB equation and a Lyapunov-based condition derived in [12]. The new condition is satisfied by a class of piecewise C1 continuous functions, termed generalized value functions. It admits a larger class of functions, such as bounded functions, than the existing conditions as demonstrated in an example. The generalized condition might, therefore, be useful in solving for the time-optimal feedback control of nonlinear systems such as robotic manipulators.
AB - This paper presents a sufficient optimality condition for timeoptimal feedback control, which generalizes the existing sufficient conditions, i.e., the HJB equation and a Lyapunov-based condition derived in [12]. The new condition is satisfied by a class of piecewise C1 continuous functions, termed generalized value functions. It admits a larger class of functions, such as bounded functions, than the existing conditions as demonstrated in an example. The generalized condition might, therefore, be useful in solving for the time-optimal feedback control of nonlinear systems such as robotic manipulators.
UR - http://www.scopus.com/inward/record.url?scp=0000458529&partnerID=8YFLogxK
U2 - 10.1115/1.2802337
DO - 10.1115/1.2802337
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AN - SCOPUS:0000458529
SN - 0022-0434
VL - 118
SP - 393
EP - 396
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 2
ER -