Asymptotic analysis of an optimal control problem connected to the human locomotion

Terence Bayen; Yacine Chitour; Frédéric Jean; Paolo Mason

doi:10.1109/CDC.2009.5400873

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Asymptotic analysis of an optimal control problem connected to the human locomotion

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Asymptotic analysis of an optimal control problem connected to the human locomotion

Terence Bayen, Yacine Chitour, Frédéric Jean et Paolo Mason

48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, pp.2248-2253

48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (Shanghai, China, 15/12/2009–18/12/2009)

2009

DOI: https://doi.org/10.1109/CDC.2009.5400873

Résumé

Asymptotic analysis

Optimization

Optimal trajectories

Optimal control problem

Initial values

Human locomotions

Goal-oriented

Boundedness

Asymptotic behaviors

The article is devoted to the analysis of two optimal control problems. We first consider a model proposed by Arechavaleta et al. (see [3]) describing the goal-oriented locomotion, for which the control on the derivative of the curvature script K̇ along the trajectory is supposed bounded. Necessary conditions on optimal trajectories are given. We then investigate an extension of this model obtained by removing the boundedness assumption on script K. In this framework several properties of the optimal trajectories are detected and in particular we determine an asymptotic behavior of the initial value of the associated covector with respect to the final point.

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Détails

Titre: Asymptotic analysis of an optimal control problem connected to the human locomotion
Créateurs - sans rôle: Terence Bayen - Université de Montpellier, Institut Montpelliérain Alexander Grothendieck - IMAG
Yacine Chitour - Centre National de la Recherche Scientifique
Frédéric Jean - École Nationale Supérieure de Techniques Avancées
Paolo Mason - Centre National de la Recherche Scientifique
Détails de publication: 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, pp.2248-2253
Colloque: 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (Shanghai, China, 15/12/2009–18/12/2009)
Identifiants: 99151442309311
Unité académique: Institut Montpelliérain Alexander Grothendieck - IMAG
Langue: English
Type de ressource: Conference proceeding
Champs locaux: hal-02320802