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...
| Authors: | , |
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| Format: | article |
| Status: | Published version |
| Publication Date: | 2013 |
| Country: | España |
| Institution: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repository: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/378179 |
| Online Access: | http://hdl.handle.net/10261/378179 |
| Access Level: | Open access |
| Keyword: | Euler-Poincare Optimal control Underactuated systems |
| Summary: | 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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