תקציר
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.
| שפה מקורית | אנגלית |
|---|---|
| עמודים (מ-עד) | 3080-3084 |
| מספר עמודים | 5 |
| כתב עת | Proceedings of the American Control Conference |
| כרך | 3 |
| סטטוס פרסום | פורסם - 1994 |
| פורסם באופן חיצוני | כן |
| אירוע | Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA משך הזמן: 29 יוני 1994 → 1 יולי 1994 |