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FiniteHorizon Optimal Control and Stabilization of TimeScalable Systems 
Abstract 
In this paper, we consider the optimal con … In this paper, we consider the optimal control of timescalable systems.
The timescaling property is shown to convert the PDE associated
with the HamiltonJacobiBellman (HJB) equation to a purely spatial PDE.
Solution of this PDE yields the value function at a fixed time, and that solutio
n can be
scaled to find the value function at any point in time. Furthermore, in certain
cases the
unscaled control law stabilizes the system, and the unscaled value function acts
as a
Lyapunov function for that system. For the example of the
nonholonomic integrator, this PDE is solved, and the
resulting optimal trajectories coincide with the known solution to that problem. e with the known solution to that problem. +


Authors  Alex Fax and Richard Murray + 
ID  2000a + 
Source  2000 Conference on Decision and Control + 
Tag  fm00cdc + 
Title  FiniteHorizon Optimal Control and Stabilization of TimeScalable Systems + 
Type  Conference Submission + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:19:30 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/fm00acdc.pdf + 
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FiniteHorizon Optimal Control and Stabilization of TimeScalable Systems +  Title 
