Computational geometric optimal control of rigid bodies

DOI10.4310/CIS.2008.V8.N4.A5zbMATH Open1168.49024arXiv0805.0639OpenAlexW2963433675MaRDI QIDQ2390620FDOQ2390620

Authors: Tae-Young Lee, Melvin Leok, N. Harris Mcclamroch 

Publication date: 31 July 2009

Published in: Communications in Information and Systems (Search for Journal in Brave)

Abstract: This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each rigid body is viewed as evolving on a configuration manifold that is a Lie group. Discrete-time dynamics of each rigid body are developed that evolve on the configuration manifold according to a discrete version of Hamilton's principle so that the computations preserve geometric features of the dynamics and guarantee evolution on the configuration manifold; these discrete-time dynamics are referred to as Lie group variational integrators. Rigid body optimal control problems are formulated as discrete-time optimization problems for discrete Lagrangian/Hamiltonian dynamics, to which standard numerical optimization algorithms can be applied. This general approach is illustrated by presenting results for several different optimal control problems for a single rigid body and for multiple interacting rigid bodies. The computational advantages of the approach, that arise from correctly modeling the geometry, are discussed.

Full work available at URL: https://arxiv.org/abs/0805.0639

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Mathematics Subject Classification ID

Optimality conditions for problems in abstract spaces (49K27) Miscellaneous topics in calculus of variations and optimal control (49N99) Geometric methods (93B27)

Cites Work

• KELLEY

Cited In (11)

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• Fluid-structure interaction in the Lagrange-Poincaré formalism: the Navier-Stokes and inviscid regimes
• Efficient geometric linearization of moving-base rigid robot dynamics
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• Geometric and numerical techniques in optimal control of two and three-body problems

Uses Software

• KELLEY

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