Optimal control methods are generally too expensive to be applied on-line and in real-time to the control of robots. An alternative method consists in tuning a parametrized reactive controller so that it converges to optimal behavior. In this paper we present such a method based on the “direct Policy Search” paradigm to get a cost-efficient control policy for a simulated two degrees-of-freedom ...

We study local structure of time-optimal controls and trajectories for a 3dimensional control-affine system with a 2-dimensional control parameter with values in the disk. In particular, we give sufficient conditions, in terms of Lie bracket relations, for optimal controls to be smooth or to have only isolated jump discontinuities.

We describe a generalization to Optimal Control of the theory of envelopes of the classical Calculus of Variations. This generalization extends our previous work, by allowing the use of \quasi-extremal" trajectories, i.e. trajectories that satisfy all the conditions of the Pontryagin Maximum Principle except for the fact that the sign of the constant 0 that appears in the Hamiltonian multiplyin...

In this paper we analyse local regularity of time-optimal controls and trajectories for an n -dimensional affine control system with a control parameter, taking values in a k -dimensional closed ball. In the case of k = n − 1 , we give sufficient conditions in terms of Lie bracket relations for all optimal controls to be smooth or to have only isolated jump discontinuities.

In this paper we analyse local regularity of time-optimal controls and trajectories for an n -dimensional affine control system with a control parameter, taking values in a k -dimensional closed ball. In the case of k = n − 1 , we give sufficient conditions in terms of Lie bracket relations for all optimal controls to be smooth or to have only isolated jump discontinuities.

in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

We consider the infinite time linear-quadratic control problem from a behavioral point of view. The performance functional is the integral of a quadratic differential form. A characterization of the stationary trajectories and of the local minima with respect to (left) compact support variations, as well as their relation to stability, are obtained. Finally, several theorems are derived that de...

In this paper, we study time-optimal trajectories for fully actuated planar underwater uehicles, with constraints on input forces. Using the Maximum Principle, we focus on the structure of singular extremals and their possible optimality.

A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double integrator utilizing acceleration commands passed through a 4th-order cascaded filter, the model for which is presented along with the system solution for an arbitrary time step and ...