On variational integrators for optimal control of mechanical control systems

被引：2
|
作者：
Colombo, Leonardo [1 ]
de Diego, David Martin [1 ]
Zuccalli, Marcela [2 ]
机构：
[1] UAM, Inst Ciencias Matemat, CSIC UAM UCM UC3M, Madrid 28049, Spain
[2] Univ Nacl de La Plata, Dept Matemat, Buenos Aires, DF, Argentina
来源：
REVISTA DE LA REAL ACADEMIA DE CIENCIAS EXACTAS FISICAS Y NATURALES SERIE A-MATEMATICAS | 2012年 / 106卷 / 01期
关键词：
Underactuated mechanical system; Constrained variational calculus; Optimal control; Vakonomic mechanics; Higher-order mechanics; Discrete mechanics; Variational integrators;
D O I：
10.1007/s13398-011-0032-8
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
In this paper we study discrete second-order vakonomic mechanics, that is, constrained variational problems for second-order lagrangian systems. One of the main applications of the presented theory will be optimal control of underactuated mechanical control systems. We derive geometric integrators which are symplectic and preserve the momentum map. Additional, we show the applicability of the proposed theory in an example, the planar rigid body.
引用
收藏
页码：161 / 171
页数：11
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