Multi-modal control using adaptive motion description languages

In this paper, we address the problem of adaptively enriching motion description languages for multi-modal control by systematically enlarging the set of available modes. This problem is formulated as an optimal control problem, where new modes are designed by combining recurring mode string fragments into smooth, new "meta-modes" and variational arguments are employed to derive optimality conditions for this construction. Key words: Hybrid Systems, Optimal Control, Motion Description Languages

• Type: Journal
• Year: 2008
• Where: AUTOMATICA
• Authors: Tejas R. Mehta, Magnus Egerstedt
• Keywords: AUTOMATICA 2008, Motion Description, Optimal Control, Optimal Control Problem