On Feedback Laws for Robotic Systems
MASSACHUSETTS INST OF TECH CAMBRIDGE LAB FOR INFORMATION AND DECISION SYSTEMS
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A variety of control problems arising from robotics applications can be restated as optimal control problems of minimum-time state transfer in the presence of state-space constraints and constraints of incomplete-state information. The traditional approaches to solving such problems are Pontryagins Maximum Principle, in the case of open-loop control, and Bellmans Dynamic Programming method.
- Numerical Mathematics