Title :
Optimal control subsumes harmonic control
Author :
Boumaza, Amine ; Scherrer, Bruno
Author_Institution :
LORIA Campus Scientifique, Vandoeuvre-les-Nancy
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363902
