Geometric Jacobian linearization and LQR theory

DOI10.3934/JGM.2010.2.397MaRDI QIDQ630062zbMATH OpenOpenAlexFDO

Authors Andrew D. Lewis, David R. Tyner

Publication date 16 March 2011

Published in Journal of Geometric Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.3934/jgm.2010.2.397

zbMATH Keywords

stabilitystabilizationlinearizationlinear quadratic optimal controllinear controllability

Mathematics Subject Classification ID

Controllability (93B05) Dynamics induced by flows and semiflows (37C10) Linear-quadratic optimal control problems (49N10) Linearizations (93B18) Feedback control (93B52) Geometric methods (93B27)

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Cited in

(4)

• Neighboring extremal optimal control for mechanical systems on Riemannian manifolds
• Linearisation of tautological control systems
• Geometric insight into discrete-time cheap and singular linear quadratic Riccati (LQR) problems
• Controlled invariant distributions and differential properties

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