Feedback in state constrained optimal control
نویسندگان
چکیده
An optimal control problem is studied, in which the state is required to remain in a compact set S. A control feedback law is constructed which, for given ε > 0, produces ε-optimal trajectories that satisfy the state constraint universally with respect to all initial conditions in S. The construction relies upon a constraint removal technique which utilizes geometric properties of inner approximations of S and a related trajectory tracking result. The control feedback is shown to possess a robustness property with respect to state measurement error. Mathematics Subject Classification. 49J24, 49J52, 49N55, 90D25. Received December 19, 2000. Revised July 2, 2001.
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