書誌事項
- タイトル別名
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- Control of a Wheeled Vehicle Using the Viscosity Solution of the Hamilton-Jacobi Partial Differential Equation.
- Hamilton-Jacobiヘンビブン ホウテイシキ ノ ネンセイカイ オ モチイタ 3リン イドウタイ ノ セイギョ
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抄録
To construct an optimal regulator for nonlinear systems, we need to solve a Hamilton-Jacobi partial differential equation (HJ-PDE) . However, if the system has nonholonomic constraints, the HJ-PDE has a nonsmooth solution because of the nonsmoothness of the optimal cost function. In such a case, the viscosity solution, a nonsmooth weak solution of the HJ-PDE, is obtained.<BR>In this paper, we deal with a wheeled vehicle, which is a nonholonomic system, and propose a numerical method to achieve a viscosity solution of the HJ-PDE using the dynamic programming principle (DPP) . The DPP can be applied to acquire a nonsmooth solution of the HJ-PDE. We also construct an optimal control law using derivatives of the viscosity solution of the HJ-PDE. The effectiveness of the proposed method is shown through simulations.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (5), 689-695, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725273088
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- NII論文ID
- 10007550101
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4800801
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可