Inversion in indirect optimal control
Résumé
In this paper we explain how to use inversion (as defined in nonlinear control theory) for indirect optimal control. Given the relative degree r, it is possible to recover r adjoint states and thus to simplify the problem. Explicit proof is given and relies on the triangular structure of the underlying normal form. An example from the literature is treated in the last section.
Domaines
Automatique / Robotique
Origine : Fichiers produits par l'(les) auteur(s)
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