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Optimal control subsumes harmonic control

Optimal control subsumes harmonic control. Amine Boumaza and Bruno Scherrer LORIA Campus Scientifique B.P. 239 54506 Vandoeuvre-les-Nancy, France Email: boumaza@loria.fr , scherrer@loria.fr. Trajectory planning can be done with optimal control or harmonic control

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Optimal control subsumes harmonic control

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  1. Optimal control subsumes harmonic control Amine Boumaza and Bruno ScherrerLORIA Campus Scientifique B.P. 239 54506 Vandoeuvre-les-Nancy, France Email: boumaza@loria.fr, scherrer@loria.fr • Trajectory planning can be done with optimal control or harmonic control • We show that harmonic control is a specific case of optimal control • We consider an optimal control problem with isotropic noise and make the noise level tend to infinity • Convergence proof, Simulations Optimal control with a slight noise

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