Abstract
Time-optimal feedback control can be computed by solving the Hamilton-Jacobi-Bellman (HJB) equation. To date, this problem has not been solved for nonlinear systems, such as articulated robotic manipulators, partly due to the difficulty in efficiently finding a solution to the HJB equation. In this paper, a new sufficient optimality condition for time-optimal feedback control is presented. It generalizes the previous sufficiency conditions, the HJB equation and a Lyapunov-based condition derived in [11]. The new condition is satisfied by a class of piecewise C2 continuous functions, termed generalized value functions, as is demonstrated in an example for a simple nonlinear system.
| Original language | English |
|---|---|
| Pages (from-to) | 3080-3084 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 3 |
| State | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA Duration: 29 Jun 1994 → 1 Jul 1994 |