Optimal control subsumes harmonic control

Abstract— We consider trajectory planning within the frameworks of optimal control and harmonic control. We present a formal evidence, in the continuous domain and in a standard discretization, that harmonic control is the limit case of a some optimal control problem in which we make the noise level tend to infinity. In other words we show that optimal control subsumes harmonic control. We discuss properties of both paradigms and present simulations that illustrate this relationship.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Amine M. Boumaza, Bruno Scherrer
• Keywords: Harmonic Control, ICRA 2007, Optimal Control, Optimal Control Problem, Robotics