On variational integrators for optimal control of mechanical control systems

In this paper we study discrete second-order vakonomic mechanics, that is, constrained variational problems for second-order lagrangian systems. One of the main applications of the presented theory will be optimal control of underactuated mechanical control systems. We derive geometric integrators w...

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Detalles Bibliográficos
Autores principales: Colombo, Leonardo, Diego, David Martín de, Zuccalli, Marcela
Formato: Articulo
Lenguaje:Inglés
Publicado: 2011
Materias:
Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/130746
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-130746
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
spellingShingle Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
Colombo, Leonardo
Diego, David Martín de
Zuccalli, Marcela
On variational integrators for optimal control of mechanical control systems
topic_facet Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
description In this paper we study discrete second-order vakonomic mechanics, that is, constrained variational problems for second-order lagrangian systems. One of the main applications of the presented theory will be optimal control of underactuated mechanical control systems. We derive geometric integrators which are symplectic and preserve the momentum map. Additional, we show the applicability of the proposed theory in an example, the planar rigid body.
format Articulo
Articulo
author Colombo, Leonardo
Diego, David Martín de
Zuccalli, Marcela
author_facet Colombo, Leonardo
Diego, David Martín de
Zuccalli, Marcela
author_sort Colombo, Leonardo
title On variational integrators for optimal control of mechanical control systems
title_short On variational integrators for optimal control of mechanical control systems
title_full On variational integrators for optimal control of mechanical control systems
title_fullStr On variational integrators for optimal control of mechanical control systems
title_full_unstemmed On variational integrators for optimal control of mechanical control systems
title_sort on variational integrators for optimal control of mechanical control systems
publishDate 2011
url http://sedici.unlp.edu.ar/handle/10915/130746
work_keys_str_mv AT colomboleonardo onvariationalintegratorsforoptimalcontrolofmechanicalcontrolsystems
AT diegodavidmartinde onvariationalintegratorsforoptimalcontrolofmechanicalcontrolsystems
AT zuccallimarcela onvariationalintegratorsforoptimalcontrolofmechanicalcontrolsystems
bdutipo_str Repositorios
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