Optimal Control of Underactuated Mechanical Systems: A Geometric Approach
Mathematical Physics
2015-05-14 v1 math.MP
Abstract
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence, to obtain a unique vector field determining the dynamics of the optimal control problem. These developments will allow us to develop a new class of geometric integrators based on discrete variational calculus.
Keywords
Cite
@article{arxiv.0912.2033,
title = {Optimal Control of Underactuated Mechanical Systems: A Geometric Approach},
author = {L. Colombo and D. Martin de Diego and M. Zuccalli},
journal= {arXiv preprint arXiv:0912.2033},
year = {2015}
}
Comments
20 pages, 2 figures