Optimal control of constrained mechanical systems in redundant coordinates: formulation and structure-preserving discretization
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differential-algebraic equationsgeneralized momentum mapsGGL stabilizationquadratic invariantsstructure-preserving discretization
Optimality conditions for problems involving ordinary differential equations (49K15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Hamilton's equations (70H05) Control of mechanical systems (70Q05)
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Cites work
- A control Hamiltonian-preserving discretisation for optimal control
- Adjoint Sensitivity Analysis for Differential-Algebraic Equations: The Adjoint DAE System and Its Numerical Solution
- Automatic integration of Euler-Lagrange equations with constraints
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- Conservation of generalized momentum maps in mechanical optimal control problems with symmetry
- Convergence analysis for approximations of optimal control problems subject to higher index differential-algebraic equations and mixed control-state constraints
- Discrete Adjoint Method for Variational Integration of Constrained ODEs and its application to Optimal Control of Geometrically Exact Beam Dynamics
- Discrete mechanics and optimal control for constrained systems
- Discrete mechanics and optimal control: An analysis
- scientific article; zbMATH DE number 150741 (Why is no real title available?)
- scientific article; zbMATH DE number 2229937 (Why is no real title available?)
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- Runge-Kutta methods in optimal control and the transformed adjoint system
- Structure-preserving local optimal control of mechanical systems
- Symplectic Runge-Kutta schemes for adjoint equations, automatic differentiation, optimal control, and more
- The GGL variational principle for constrained mechanical systems
- Time integration and discrete Hamiltonian systems
Cited in
(5)- A control Hamiltonian-preserving discretisation for optimal control
- Conservation of generalized momentum maps in mechanical optimal control problems with symmetry
- Indirect collocation method in multiple minimal coordinates for optimal control of constrained mechanical systems
- Monolithic and staggered solution strategies for constrained mechanical systems in optimal control problems
- Including limb-on-limb holonomic constraints in predictive simulation allows replicating athlete's backflip technique
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