On variational integrators for optimal control of mechanical control systems
In this paper we study discrete second-order vakonomic mechanics, that is, constrained variational problems for second-order lagrangian systems. One of the main applications of the presented theory will be optimal control of underactuated mechanical control systems. We derive geometric integrators w...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2011 |
| País: | Argentina |
| Institución: | Universidad Nacional de La Plata |
| Repositorio: | SEDICI (UNLP) |
| Idioma: | inglés |
| OAI Identifier: | oai:sedici.unlp.edu.ar:10915/130746 |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/130746 |
| Access Level: | acceso abierto |
| Palabra clave: | Ciencias Exactas Matemática Underactuated mechanical system Constrained variational calculus Optimal control Vakonomic mechanics Higher-order mechanics Discrete mechanics Variational integrators |
| Sumario: | In this paper we study discrete second-order vakonomic mechanics, that is, constrained variational problems for second-order lagrangian systems. One of the main applications of the presented theory will be optimal control of underactuated mechanical control systems. We derive geometric integrators which are symplectic and preserve the momentum map. Additional, we show the applicability of the proposed theory in an example, the planar rigid body. |
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