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Author

M. Diagne

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Preprint Sep 2026

Inverse Optimal Feedback Stabilization of 3D Nonholonomic Vehicles in Spherical Coordinates

Inverse optimal control provides optimality and robustness guarantees without solving the Hamilton--Jacobi--Bellman (HJB) equation, but its application to 3D nonholonomic vehicles has been precluded by the absence of strict control Lyapunov functions (CLFs). Recently, such strict CLFs were constructed for the 3D nonhol...

Kwang Hak Kim, M. Diagne, Miroslav Krstić · 0 citations

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