On Inverse Optimal Control Problems of Human Locomotion: Stability and Robustness of the Minimizers
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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).
KeywordsOptimal Control Problem Uniform Convergence Linear Matrix Inequality Optimal Trajectory Humanoid Robot
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