Quasivelocities and Optimal Control for underactuated Mechanical Systems

被引：1
|
作者：
Colombo, L. [1 ]
Martin de Diego, D. [1 ]
机构：
[1] Inst Ciencias Matemat CSIC UAM UC3M UCM, Madrid 28006, Spain
来源：
XVIII INTERNATIONAL FALL WORKSHOP ON GEOMETRY AND PHYSICS | 2010年 / 1260卷
关键词：
quasivelocities; Hamel equations; optimal control; DYNAMICS;
D O I：
10.1063/1.3479314
中图分类号：
O59 [应用物理学];
学科分类号：
摘要：
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.
引用
收藏
页码：133 / 140
页数：8
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