A projected Lagrange-d'Alembert principle for forced nonsmooth mechanics and optimal control.

David Pekarek Todd D. Murphey

Published in: CDC (2013)

Keyphrases

optimal control
control problems
dynamic programming
control strategy
feedback control
risk sensitive
control law
brownian motion
optimal control problems
infinite horizon
lyapunov function
class of nonlinear systems
reinforcement learning
state space
variational inequalities