Periodic and Recursive Control Theoretic Smoothing Splines
نویسندگان
چکیده
In this paper a recursive control theoretic smoothing spline approach is proposed for reconstructing a closed contour. Periodic splines are generated through minimizing a cost function subject to constraints imposed by a linear control system. The optimal control problem is shown to be proper and sufficient optimality conditions are derived for a special case of the problem using Hamilton-JacobiBellman theory. The filtering effect of the smoothing splines allows for usage of noisy sensor data. An important feature of the method is that several data sets for the same closed contour can be processed recursively so that the accuracy can be improved stepwise as new data becomes available.
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