On inverse optimal control problems of human locomotion: Stability and robustness of the minimizers

被引：13
|
作者：
Chittaro F.C. [1 ]
Jean F. [2 ,3 ]
Mason P. [1 ]
机构：
[1] Laboratoire des Signaux et Systémes, Gif-sur-Yvette
[2] ENSTA ParisTech, Paris
[3] Team GECO, INRIA Saclay-Île-de-France
来源：
Journal of Mathematical Sciences | 2013年 / 195卷 / 3期
关键词：
Optimal Control Problem; Uniform Convergence; Linear Matrix Inequality; Optimal Trajectory; Humanoid Robot;
D O I：
10.1007/s10958-013-1579-z
中图分类号：
学科分类号：
摘要：
In recent papers, models of human locomotion by means of optimal control problems have been proposed. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem whose cost has to be determined. The purpose of the present paper is to analyze the class of optimal control problems defined in this way. We prove strong convergence results for their solutions, on the one hand, for perturbations of the initial and final points (stability), and, on the other hand, for perturbations of the cost (robustness). © 2013 Springer Science+Business Media New York.
引用
收藏
页码：269 / 287
页数：18
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