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An Optimal Trajectory Tracking Problem for Certain Nonlinear Control Systems

Guanrong Chen

出版	Center for Approximation Theory, Department of Mathematics, Texas A & M University, 1991
URL	http://books.google.com.hk/books?id=JbECvwEACAAJ&hl=&source=gbs_api

註釋

In this paper, we study an optimal trajectory tracking problem for the nonlinear control systems that possess global linearizations. The trajectory tracking problem under investigation is point-to-point type where the constraints can be either inequalities or equalities (interpolations). For the purposes of theoretical analysis and system-behavior understanding, we establish a characterization result for all possible optimal solutions of the problem and derive as well explicit closed-form formulations for the solutions. The proposed research is first motivated by a specific optimal robotic trajectory planning problem. The robotics problem is finally solved by using the new technique as an example of applications.