| Abstract: | In this paper, we study an optimal trajectory tracking problem for the nonlinear control systems that possess global linearizations. The trajectory tracking problem under investigation is point-to-point type where the constraints can be either inequalities or equalities (interpolations). For the purposes of theoretical analysis and system-behavior understanding, we establish a characterization result for all possible optimal solutions of the problem and derive as well explicit closed-form formulations for the solutions. The proposed research is first motivated by a specific optimal robotic trajectory planning problem. The robotics problem is finally solved by using the new technique as an example of applications. |
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