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8

ICRA
2007
IEEE

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Optimal control subsumes harmonic control

13 years 11 months ago

Optimal control subsumes harmonic control

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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 a 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.

Amine M. Boumaza, Bruno Scherrer

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Harmonic Control | ICRA 2007 | Optimal Control | Optimal Control Problem | Robotics |

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Added	03 Jun 2010
Updated	03 Jun 2010
Type	Conference
Year	2007
Where	ICRA
Authors	Amine M. Boumaza, Bruno Scherrer

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