Trajectory optimization of mechanical hybrid systems using SUMT

被引：27

作者：

Yunt, Kerim ^{[1
]}

Glocker, Christoph ^{[1
]}

机构：

[1] Inst Mech Syst, Mech & Proc Engn, Tannenstr 3, CH-8092 Zurich, Switzerland

来源：

9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS | 2006年

关键词：

D O I：

10.1109/AMC.2006.1631739

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The aim of this report is to propose a unified framework for the determination of non-smooth trajectories for structure-variant mechanical systems along with a computational scheme. The benefits to represent the dynamics as a measure-differential inclusion will be presented. The optimal control problem will be transcribed into a Nonlinear Programming Problem (NLP) and transformed from the infinite dimensional representation into a finite dimensional representation. The relation to bilevel programming will be established. A numerical scheme will be proposed for the determination of the state and costate trajectories, which can bear discontinuities and set-valuedness.

引用

页码：665 / +

页数：2

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