Geometric optimal trajectory tracking of nonholonomic mechanical systems

DOI10.1137/19M1243464zbMATH Open1441.49001arXiv2001.10346MaRDI QIDQ3300784FDOQ3300784

Authors: Leonardo Colombo, David Martín de Diego, Aradhana Nayak, Rodrigo T. Sato Martín de Almagro 

Publication date: 30 July 2020

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: 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.

Full work available at URL: https://arxiv.org/abs/2001.10346

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zbMATH Keywords

nonholonomic systemsoptimal controlvariational integratorstrajectory planning

Mathematics Subject Classification ID

Applications of Lie groups to the sciences; explicit representations (22E70) Dynamical systems in control (37N35) Existence theories for optimal control problems involving ordinary differential equations (49J15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Nonlinear systems in control theory (93C10) Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15)

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Cited In (7)

• Mechanics of Trajectory Optimization Using Nonsingular Variational Equations in Polar Coordinates
• Trajectory design for mechanical control systems: from geometry to algorithms
• High-order sufficient conditions for configuration tracking of affine connection control systems
• The Boltzmann--Hamel equations for the optimal control of mechanical systems with nonholonomic constraints
• Learning optimal trajectories for non-holonomic systems
• Trajectory tracking control of nonholonomic Hamiltonian systems via generalized canonical transformations
• Time optimal control for a nonholonomic system with state constraint

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