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Optimization of a class of nonholonomic dynamic systems

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1 Author(s)
Lyshevski, S.E. ; Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA

We design a nonlinear control law for nonholonomic dynamic systems using the Hamilton-Jacobi theory. The novelty of the reported results lies in the fact that nonquadratic performance costs and return functions are used. By applying necessary and sufficient conditions for optimality, a nonlinear control law in the closed form is designed and optimality is verified. The solution of the Hamilton-Jacobi-Bellman equation is found. The application of the explored procedure is discussed, and a familiar example is studied

Published in:

American Control Conference, 1999. Proceedings of the 1999  (Volume:6 )

Date of Conference: