Quasivelocities and optimal control for underactuated mechanical systems

DOI10.1063/1.3479314MaRDI QIDQ5744071zbMATH OpenOpenAlexFDO

Authors Leonardo Colombo, David Martín de Diego

Publication date 9 February 2016

Published in AIP Conference Proceedings (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1003.1013

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Lagrange's equations (70H03) Constrained dynamics, Dirac's theory of constraints (70H45) Control of mechanical systems (70Q05)

Abstract: This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.

Recommendations

• Optimal control of underactuated mechanical systems: A geometric approach
• Unified formalism for higher-order variational problems and its applications in optimal control
• Optimal control of underactuated mechanical systems with symmetries
• Some applications of quasi-velocities in optimal control
• Notes on discrete compound Poisson model with applications to risk theory

Cited in

(2)

• Higher-order variational problems on Lie groups and optimal control applications
• Optimal control of underactuated mechanical systems with symmetries

This page was built for publication: Quasivelocities and optimal control for underactuated mechanical systems

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5744071)