Geometric optimal trajectory tracking of nonholonomic mechanical systems
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory, both...
| Autores: | , , , |
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| Formato: | artículo |
| Estado: | Versión enviada para evaluación y publicación |
| Fecha de publicación: | 2020 |
| País: | España |
| Recursos: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/226342 |
| Acesso em linha: | http://hdl.handle.net/10261/226342 |
| Access Level: | acceso abierto |
| Palavra-chave: | Optimal control Trajectory planning Nonholonomic systems Variational integrators |
| Resumo: | We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory, both evolving on the distribution which defines the nonholonomic constraints. The problem is studied from a geometric framework. Optimality conditions are determined by the Pontryagin maximum principle and also from a variational point of view, which allows the construction of geometric integrators. Examples and numerical simulations are shown to validate the results. |
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