Geodesic
Control of ellipsoidal trajectories: Theory and numerical results
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 54 (2014) no. 3, pp. 404-414
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An integral functional is optimized over set-valued trajectories in a differential motion control model under state constraints. The motion trajectories are assumed to be ellipsoid-valued. The construction relies on a suitable version of Hamiltonian formalism. A key point is that the solutions are described as matrix functions in terms of tensor analysis. The approach is especially efficient as applied to high-dimensional systems. 
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A. B. Kurzhanski; A. I. Mesyats. Control of ellipsoidal trajectories: Theory and numerical results. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 54 (2014) no. 3, pp. 404-414. http://geodesic.mathdoc.fr/item/ZVMMF_2014_54_3_a4/

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