Quasivelocities and Optimal Control for underactuated Mechanical Systems

Journal Article · Wed Jul 28 00:00:00 EDT 2010 · AIP Conference Proceedings

DOI:https://doi.org/10.1063/1.3479314· OSTI ID:21410742

Colombo, L ^[1]; Martin de Diego, D ^[2]

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1. Instituto de Ciencias Matematicas (CSIC-UAM-UC3M-UCM), Serrano 123, 28006 Madrid (Spain) and Departamento de Matematica, Universidad Nacional de La Plata, Calle 50 y 115, La Plata, Buenos Aires (Argentina)
2. Instituto de Ciencias Matematicas (CSIC-UAM-UC3M-UCM), Serrano 123, 28006 Madrid (Spain)

This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.

• OSTI ID: 21410742
• Journal Information: AIP Conference Proceedings, Vol. 1260, Issue 1; Conference: 18. international fall workshop on geometry and physics, Benasque (Spain), 6-9 Sep 2009; Other Information: DOI: 10.1063/1.3479314; (c) 2010 American Institute of Physics; ISSN 0094-243X
• Country of Publication: United States
• Language: English

Related Subjects

71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
EQUATIONS OF MOTION
LAGRANGIAN FIELD THEORY
LAGRANGIAN FUNCTION
OPTIMAL CONTROL
VARIATIONAL METHODS
CALCULATION METHODS
CONTROL
DIFFERENTIAL EQUATIONS
EQUATIONS
FIELD THEORIES
FUNCTIONS
PARTIAL DIFFERENTIAL EQUATIONS
QUANTUM FIELD THEORY