| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 697512 | Automatica | 2008 | 6 Pages |
Abstract
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.
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Tejas R. Mehta, Magnus Egerstedt,