Optimal control models of goal-oriented human locomotion

DOI10.1137/100799344zbMATH Open1244.49033arXiv1006.3925OpenAlexW2108598503MaRDI QIDQ2884590FDOQ2884590

Authors: Paolo Mason, Yacine Chitour, Frédéric Jean 

Publication date: 30 May 2012

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We discuss the modeling of both the dynamical system and the cost to be minimized, and we analyze the corresponding optimal synthesis. The main results describe the asymptotic behavior of the optimal trajectories as the target point goes to infinity.

Full work available at URL: https://arxiv.org/abs/1006.3925

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zbMATH Keywords

Pontryagin's maximum principlestable manifold theoreminverse optimal controlhuman locomotion

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Nonlinear systems in control theory (93C10) Optimal feedback synthesis (49N35)

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