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On time-optimal feedback control

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2 Author(s)
Sundar, S. ; Dept. of Mech., Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA ; Shiller, Z.

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 sufficient conditions, the HJB equation and a Lyapunov-based condition derived by Nahi (1964). The new condition is satisfied by a class of piecewise C2 continuous functions, termed generalized value functions, as demonstrated in an example for a simple nonlinear system.

Published in:

American Control Conference, 1994  (Volume:3 )

Date of Conference:

29 June-1 July 1994