In the optimal control of dynamic systems, e.g., in the control of industrial or service robots, the standard procedure is to determine first off-line an optimal open loop control, and correct then the inevitable deviation of the trajectory 01' performance of the system from the prescribed values b y on-line measurement and control actions which may be very expensive. By adaptive stochastic path planning and control (ASPPC), i. e. b y incorporating the available a priori and statistical information on the unknown model parameters of the dynamic system and its working environment into the off-line and on-line control process by means of stochastic optimization methods , the deviation between the actual and prescribed trajectory can be reduced to a large extent. s 100 Now, the following statement about the behaviour of the error vector A z ( t ) , t 2 t j , can be made: robotic system described by (15a116) and A(j)z(t) := E ( A z ( t ) I At,). Then ZAMM . Z. Angew. Math. Mech. 80 (2000) S1 T h e o r e -m 5.1. Let A z = A z ( t ) , t > t j , be the first order expansion term of the tracking error of the t t However, in (OSPP) the following control restrictions are used U m i n ( P C , s ) 5 u g ( P D i S ; i ( . ) l P ( . ) ) 5 umaz(PC,s), s j 5 s 5 S f . Having an (OSPP) with reliability conditions and using (3), (17) is replaced by Finally, comparing Theorem 5.1 and (20) we obtain:T h e o r e m 11.2. By using optimal stochastic path planning (OSPP), the variance of the tracking error A z ( t ) is minimized. Therefore more stable controls are obtained and the expense for on-line corrections is reduced. 6. References 1 MARTI, K.: Path planning for robots under stochastic uncertainty; Optimization 1999,to appear. 2 MARTI, K., Qu, S.: Path planing for robots by stochastic optimization methods; Preprint 97-12, DFG reasearch project 3 Q u , S.: Optimale Bahnplanung fur Roboter unter Berucksichtigung stochastischer Parameterschwankungen; VDI-Verlag, Echtzeit Optimierung grosser Systeme, 1997. Dusseldorf 1995.