Global solution for the optimal feedback control of the underactuated heisenberg system

Chandeok Park, Daniel J. Scheeres, Vincent Guibout, Anthony Bloch

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

We present a global solution for an optimal controller of the underactuated Heisenberg system or nonholonomic integrator. Employing a recently developed technique based on generating functions appearing in the Hamilton-Jacobi theory, we circumvent a singularity caused by underactuation to develop a nonlinear optimal feedback control in an implicitly analytical form. The systematic procedure to deal with underactuation indicates that generating functions should be effective tools for solving general underactuated optimal control problems.

Original languageEnglish
Pages (from-to)2638-2642
Number of pages5
JournalIEEE Transactions on Automatic Control
Volume53
Issue number11
DOIs
Publication statusPublished - 2008 Dec 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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