OPTIMAL CONTROL OF UNDERACTUATED MECHANICAL SYSTEMS WITH SYMMETRIES
The aim of this paper is to study optimal control problems for underactuated mechanical systems with symmetries using higher-order Lagrangian mechanics. We variationally derive the corresponding Lagrange - Poincare equations for second-order Lagrangians with constraints defined on trivial principal...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2013 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/378179 |
| Acceso en línea: | http://hdl.handle.net/10261/378179 |
| Access Level: | acceso abierto |
| Palabra clave: | Euler-Poincare Optimal control Underactuated systems |
| Sumario: | The aim of this paper is to study optimal control problems for underactuated mechanical systems with symmetries using higher-order Lagrangian mechanics. We variationally derive the corresponding Lagrange - Poincare equations for second-order Lagrangians with constraints defined on trivial principal bundles and apply them to study an optimal control problem for an underactuated vehicle. |
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