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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: 1999

Page(s):
3930 - 3934 vol.6
Meeting Date :
02 Jun 1999-04 Jun 1999
ISSN :
0743-1619
Print ISBN:
0-7803-4990-3
INSPEC Accession Number:
6403055
Conference Location :
San Diego, CA
Digital Object Identifier :
10.1109/ACC.1999.786254
Product Type:
Conference Publications

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