Optimization of a class of nonholonomic dynamic systems

We design a nonlinear control law for nonholonomic dynamic systems using the Hamilton-Jacobi theory. The novelty of the reported results lies in the fact that nonquadratic performance costs and return functions are used. By applying necessary and sufficient conditions for optimality, a nonlinear control law in the closed form is designed and optimality is verified. The solution of the Hamilton-Jacobi-Bellman equation is found. The application of the explored procedure is discussed, and a familiar example is studied.