Geometric optimal trajectory tracking of nonholonomic mechanical systems
From MaRDI portal
(Redirected from Publication:3300784)
Applications of Lie groups to the sciences; explicit representations (22E70) Nonholonomic dynamical systems (37J60) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) 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)
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.
Recommendations
- Constraint control of nonholonomic mechanical systems
- Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics
- Optimal tracking control of nonlinear dynamical systems
- A geometric approach to the optimal control of nonholonomic mechanical systems
- Trajectory tracking control of nonholonomic Hamiltonian systems via generalized canonical transformations
Cites work
- A geometric approach to the optimal control of nonholonomic mechanical systems
- Almost-global tracking for a rigid body with internal rotors
- An Almost Global Tracking Control Scheme for Maneuverable Autonomous Vehicles and its Discretization
- Control and stabilization of nonholonomic dynamic systems
- Discrete mechanics and variational integrators
- Energy-preserving integrators applied to nonholonomic systems
- Exponential stabilization of nonholonomic systems by means of oscillating controls
- Galerkin variational integrators and modified symplectic Runge-Kutta methods
- Geometric control and numerical aspects of nonholonomic systems
- scientific article; zbMATH DE number 4133575 (Why is no real title available?)
- scientific article; zbMATH DE number 2129143 (Why is no real title available?)
- scientific article; zbMATH DE number 3839814 (Why is no real title available?)
- scientific article; zbMATH DE number 3759031 (Why is no real title available?)
- Mechanical control systems on Lie algebroids
- Motion Feasibility Conditions for Multiagent Control Systems on Lie Groups
- Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
- On Almost-Global Tracking for a Certain Class of Simple Mechanical Systems
- On Normality of Lagrange Multipliers for State Constrained Optimal Control Problems
- Optimal trajectory tracking of nonlinear dynamical systems
- Quasivelocities and symmetries in non-holonomic systems
- Stabilizability of nonholonomic control systems
- Tracking control of mobile robots: A case study in backstepping
Cited in
(12)- On a differential geometric formulation of an optimal tracking problem
- Tracking for fully actuated mechanical systems: A geometric framework
- Time optimal control for a nonholonomic system with state constraint
- Variational dynamic interpolation for kinematic systems on trivial principal bundles
- Trajectory design for mechanical control systems: from geometry to algorithms
- Trajectory tracking control of nonholonomic Hamiltonian systems via generalized canonical transformations
- The Boltzmann--Hamel equations for the optimal control of mechanical systems with nonholonomic constraints
- A geometric approach to the optimal control of nonholonomic mechanical systems
- Mechanics of Trajectory Optimization Using Nonsingular Variational Equations in Polar Coordinates
- Learning optimal trajectories for non-holonomic systems
- High-order sufficient conditions for configuration tracking of affine connection control systems
- New high order sufficient conditions for configuration tracking
This page was built for publication: Geometric optimal trajectory tracking of nonholonomic mechanical systems
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q3300784)
