Higher order variational time discretization of optimal control problems

Authors Cédric M. Campos, Oliver Junge, Sina Ober-Blöbaum

Publication date 27 April 2012

Geometric methods in ordinary differential equations (34A26) Existence theories for optimal control problems involving ordinary differential equations (49J15) Numerical optimization and variational techniques (65K10)

Abstract: We reconsider the variational integration of optimal control problems for mechanical systems based on a direct discretization of the Lagrange-d'Alembert principle. This approach yields discrete dynamical constraints which by construction preserve important structural properties of the system, like the evolution of the momentum maps or the energy behavior. Here, we employ higher order quadrature rules based on polynomial collocation. The resulting variational time discretization decreases the overall computational effort.

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