2 papers
math.OC2021
Optimal Regulators in Geometric Robotics
Anis Bousclet
The aim of this paper is to give some existence results of optimal control of robotic systems with a Riemannian geometric view, and derive a formulation of the PMP using the intrin…
math.OC2021
Geometric Control of a Robot's Tool
Anis Bousclet, Mohamed Camil Belhadjoudja
The goal of this paper is to present a rigorous and intrinsic formulation of a Riemannian PD-regulator of the robot's tool, The first one is based upon the Lasalle's invariance pri…