Discrete variational optimal control
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Abstract: This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of variational principles. The key point is to solve the optimal control problem as a variational integrator of a specially constructed higher-dimensional system. The developed framework applies to systems on tangent bundles, Lie groups, underactuated and nonholonomic systems with symmetries, and can approximate either smooth or discontinuous control inputs. The resulting methods inherit the preservation properties of variational integrators and result in numerically robust and easily implementable algorithms. Several theoretical and a practical examples, e.g. the control of an underwater vehicle, will illustrate the application of the proposed approach.
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- scientific article; zbMATH DE number 1969630
- Publication:4891372
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Cited in
(17)- A multiphase DMOC-based trajectory optimization method
- Variational integrators for mechanical control systems with symmetries
- Dirac structures in vakonomic mechanics
- Structure-preserving local optimal control of mechanical systems
- Discrete optimal control for Birkhoffian systems
- On variational integrators for optimal control of mechanical control systems
- Discrete optimal control with aggregative pole placement
- Preservation of adiabatic invariants for disturbed Hamiltonian systems under variational discretization
- Discrete Adjoint Method for Variational Integration of Constrained ODEs and its application to Optimal Control of Geometrically Exact Beam Dynamics
- Discrete mechanics and optimal control for constrained systems
- Numerical trajectory optimization for stochastic mechanical systems
- Minimizing control variation in discrete-time optimal control problems
- Joint-coordinate adjoint method for optimal control of multibody systems
- Variable resolution discretization in optimal control
- Solving optimal control problems by exploiting inherent dynamical systems structures
- The local description of discrete mechanics
- A discrete geometric optimal control framework for systems with symmetries
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