Optimal control of underactuated mechanical systems with symmetries

MaRDI QIDQ489806zbMATH OpenFDO

Authors Leonardo Colombo, David Martín de Diego

Publication date 21 January 2015

Published in Discrete and Continuous Dynamical Systems (Search for Journal in Brave)

Full work available at URL http://aimsciences.org/journals/displayPaperPro.jsp?paperID=9199

zbMATH Keywords

Euler-Poincaréoptimal controlunderactuated systems

Mathematics Subject Classification ID

Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Variational methods for problems in mechanics (70G75) Lagrange's equations (70H03) Higher-order theories for problems in Hamiltonian and Lagrangian mechanics (70H50) Control of mechanical systems (70Q05)

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(15)

• Motion control algorithms for simple mechanical systems with symmetry
• Controllability of a class of underactuated mechanical systems with symmetry
• Second order Lagrangian dynamics on double cross product groups
• Notes on discrete compound Poisson model with applications to risk theory
• A robust optimal control approach in the weighted Sobolev space for underactuated mechanical systems
• A geometric approach to the optimal control of nonholonomic mechanical systems
• Lagrangian dynamics on matched pairs
• Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
• Mathematical modelling and control of an autonomous vehicle with rear-wheel-drive
• Dynamic optimal control problems in Hamiltonian and Lagrangian systems
• Optimal control of underactuated mechanical systems: A geometric approach
• Quasivelocities and optimal control for underactuated mechanical systems
• Non-standard higher-order \(G\)-strand partial differential equations on matrix Lie algebra
• Tulczyjew’s triplet for lie groups III: Higher order dynamics and reductions for iterated bundles
• Dynamics over cocycle double cross-products

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