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

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

Terence Bayen
, Yacine Chitour
, Frédéric Jean
, Paolo Mason

Université de Montpellier 2
L2S, CNRS, Univ Paris-Sud

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

Résumé

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.

langue originale	Anglais
titre	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Editeur	Institute of Electrical and Electronics Engineers Inc.
Pages	2248-2253
Nombre de pages	6
ISBN (imprimé)	9781424438716
Les DOIs	https://doi.org/10.1109/CDC.2009.5400873
état	Publié - 1 janv. 2009
Evénement	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, Chine Durée: 15 déc. 2009 → 18 déc. 2009

Série de publications

Nom	Proceedings of the IEEE Conference on Decision and Control
ISSN (imprimé)	0743-1546
ISSN (Electronique)	2576-2370

Une conférence

Une conférence	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Pays/Territoire	Chine
La ville	Shanghai
période	15/12/09 → 18/12/09

Accès au document

10.1109/CDC.2009.5400873

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Bayen, T., Chitour, Y., Jean, F., & Mason, P. (2009). Asymptotic analysis of an optimal control problem connected to the human locomotion. Dans Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (p. 2248-2253). Article 5400873 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5400873

Bayen, Terence ; Chitour, Yacine ; Jean, Frédéric et al. / Asymptotic analysis of an optimal control problem connected to the human locomotion. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 2248-2253 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{5ff0bc62d5be47e2963022be4bc81cae,

title = "Asymptotic analysis of an optimal control problem connected to the human locomotion",

abstract = "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 {\.K} 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.",

author = "Terence Bayen and Yacine Chitour and Fr{\'e}d{\'e}ric Jean and Paolo Mason",

year = "2009",

month = jan,

day = "1",

doi = "10.1109/CDC.2009.5400873",

language = "English",

isbn = "9781424438716",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2248--2253",

booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

}

Bayen, T, Chitour, Y, Jean, F & Mason, P 2009, Asymptotic analysis of an optimal control problem connected to the human locomotion. Dans Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5400873, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., p. 2248-2253, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, Chine, 15/12/09. https://doi.org/10.1109/CDC.2009.5400873

Asymptotic analysis of an optimal control problem connected to the human locomotion. / Bayen, Terence; Chitour, Yacine; Jean, Frédéric et al.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 2248-2253 5400873 (Proceedings of the IEEE Conference on Decision and Control).

Résultats de recherche: Le chapitre dans un livre, un rapport, une anthologie ou une collection › Contribution à une conférence › Revue par des pairs

TY - GEN

T1 - Asymptotic analysis of an optimal control problem connected to the human locomotion

AU - Bayen, Terence

AU - Chitour, Yacine

AU - Jean, Frédéric

AU - Mason, Paolo

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Y1 - 2009/1/1

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/77950847351

U2 - 10.1109/CDC.2009.5400873

DO - 10.1109/CDC.2009.5400873

M3 - Conference contribution

AN - SCOPUS:77950847351

SN - 9781424438716

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2248

EP - 2253

BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

Y2 - 15 December 2009 through 18 December 2009

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Bayen T, Chitour Y, Jean F, Mason P. Asymptotic analysis of an optimal control problem connected to the human locomotion. Dans Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 2248-2253. 5400873. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5400873

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

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