Geometric optimal trajectory tracking of nonholonomic mechanical systems
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Publication:3300784
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)
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.
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Cited in
(10)- Learning optimal trajectories for non-holonomic systems
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