Finite-horizon optimal control and stabilization of time-scalable systems

被引：0
|
作者：
Fax, JA [1 ]
Murray, RM [1 ]
机构：
[1] CALTECH, Pasadena, CA 91125 USA
来源：
PROCEEDINGS OF THE 39TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we consider the optimal control of time-scalable systems. The time-scaling property is shown to convert the PDE associated with the Hamilton-Jacobi-Bellman (HJB) equation to a purely spatial PDE. Solution of this PDE yields the value function at a fixed time, and that solution can be scaled to find the value function at any point in time. Furthermore, in certain cases the unsealed control law stabilizes the system, and the unsealed value function acts as a Lyapunov function for that system. The PDE is solved for the well-known example of the nonholonomic integrator.
引用
收藏
页码：748 / 753
页数：6
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