DocumentCode
2627590
Title
Optimal control subsumes harmonic control
Author
Boumaza, Amine ; Scherrer, Bruno
Author_Institution
LORIA Campus Scientifique, Vandoeuvre-les-Nancy
fYear
2007
fDate
10-14 April 2007
Firstpage
2841
Lastpage
2846
Abstract
We consider trajectory planning within the frameworks of optimal control and harmonic control. We present a formal evidence, in the continuous domain and in a standard discretization, that harmonic control is the limit case of some optimal control problem in which we make the noise level tend to infinity. In other words we show that optimal control subsumes harmonic control. We discuss properties of both paradigms and present simulations that illustrate this relationship.
Keywords
harmonic analysis; optimal control; position control; harmonic control; optimal control; trajectory planning; Automatic control; Finite difference methods; H infinity control; Harmonic analysis; Laplace equations; Learning; Noise level; Optimal control; Robotics and automation; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363902
Filename
4209520
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