Riemannian formulation of Pontrygin's principle for robotic manipulators
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Publication:6433894
arXiv2304.10959MaRDI QIDQ6433894FDOQ6433894
Authors: Francois Dubois, Hedy César Ramírez-De-Ávila, Juan Antonio Rojas Quintero 
Publication date: 21 April 2023
Abstract: In this work, we consider a mechanical system whose mass tensor implements a scalar product in a Riemannian manifold. This system is controlled with the help of forces and torques. A cost functional is minimized to achieve an optimal trajectory. In this contribution, this cost function is supposed to be an arbitrary regular function invariant under a change of coordinates. Optimal control evolution based on Pontryagin's principle induces a covariant second-order ordinary differential equation for an adjoint variable featuring the Riemann curvature tensor. This second order time evolution is derived in this contribution.
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