Discrete mechanics and optimal control: An analysis
نویسندگان
چکیده
منابع مشابه
Discrete Mechanics and Optimal Control: an Analysis
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion sequences in robotics and biomechanics. In most cases, some sort of discretization of the original, infinite-dimensional optimization problem has to be perform...
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A new approach to the solution of optimal control problems for mechanical systems is proposed. It is based on a direct discretization of the Lagrange-d’Alembert principle for the system (as opposed to using, for example, collocation or multiple shooting to enforce the equations of motion as constraints). The resulting forced discrete Euler-Lagrange equations then serve as constraints for the op...
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The optimal control of a mechanical system is of crucial importance in many application areas. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion sequences in robotics and biomechanics. In most cases, some sort of discretization of the original, infinite-dimensional optimization problem has to...
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The optimal control of a mechanical system is of crucial importance in many application areas. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion sequences in robotics and biomechanics. In most cases, some sort of discretization of the original, infinite-dimensional optimization problem has to...
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ژورنال
عنوان ژورنال: ESAIM: Control, Optimisation and Calculus of Variations
سال: 2010
ISSN: 1292-8119,1262-3377
DOI: 10.1051/cocv/2010012