Discrete mechanics and optimal control for constrained systems
نویسندگان
چکیده
منابع مشابه
Discrete mechanics and optimal control for constrained systems
1Aeronautics and Control and Dynamical Systems, California Institute of Technology, 1200 E. California Boulevard, Mail Code 107-81, Pasadena, CA 91125, U.S.A. 2Control and Dynamical Systems, California Institute of Technology, 1200 E. California Boulevard, Mail Code 205-45, Pasadena, CA 91125, U.S.A. 3Aeronautics and Mechanical Engineering, California Institute of Technology, 1200 E. California...
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The equations of motion of a controlled mechanical system subject to holonomic constraints may be formulated in terms of the states and controls by applying a constrained version of the Lagrange-d’Alembert principle. This paper derives a structure preserving scheme for the optimal control of such systems using, as one of the key ingredients, a discrete analogue of that principle. This property ...
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This paper formulates the dynamical equations of mechanics subject to holonomic constraints in terms of the states and controls using a constrained version of the Lagrange-d’Alembert principle. Based on a discrete version of this principle, a structure preserving time-stepping scheme is derived. It is shown that this respect for the mechanical structure (such as a reliable computation of the en...
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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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ژورنال
عنوان ژورنال: Optimal Control Applications and Methods
سال: 2010
ISSN: 0143-2087
DOI: 10.1002/oca.912