DISCRETE SECOND-ORDER EULER–POINCARÉ EQUATIONS: APPLICATIONS TO OPTIMAL CONTROL

DOI10.1142/S0219887812500375zbMath1256.93037arXiv1109.4716MaRDI QIDQ4902538

Fernando Jiménez, Leonardo Colombo, David Martín de Diego

Publication date: 16 January 2013

Published in: International Journal of Geometric Methods in Modern Physics (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1109.4716

zbMATH Keywords

optimal control; rigid body; Euler-Poincaré equations; Lagrangian systems; geometric integrators; discrete mechanics; Cosserat rod; mechanics on Lie groups

Mathematics Subject Classification ID

70Q05: Control of mechanical systems

49K15: Optimality conditions for problems involving ordinary differential equations

70H03: Lagrange's equations

Related Items

Higher-order discrete variational problems with constraints, High order variational integrators in the optimal control of mechanical systems, Variational integrators for mechanical control systems with symmetries, Second-order variational problems on Lie groupoids and optimal control applications, The variational discretization of the constrained higher-order Lagrange-Poincaré equations, A discrete-time Pontryagin maximum principle on matrix Lie groups, Higher-order variational problems on Lie groups and optimal control applications, High Order Variational Integrators: A Polynomial Approach

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