On variational integrators for optimal control of mechanical control systems

DOI10.1007/s13398-011-0032-8zbMath1264.70045OpenAlexW2046721807MaRDI QIDQ1935055

Leonardo Colombo, David Martín de Diego, Marcela Zuccalli

Publication date: 30 January 2013

Published in: Revista de la Real Academia de Ciencias Exactas, Físicas y Naturales. Serie A: Matemáticas. RACSAM (Search for Journal in Brave)

Full work available at URL: http://sedici.unlp.edu.ar/handle/10915/130746

zbMATH Keywords

optimal controlvariational integratorsdiscrete mechanicsunderactuated mechanical systemhigher-order mechanicsvakonomic mechanicsconstrained variational calculus

Mathematics Subject Classification ID

Numerical optimization and variational techniques (65K10) Control of mechanical systems (70Q05) Hamilton's principle (70H25) Constrained dynamics, Dirac's theory of constraints (70H45) Nonholonomic systems related to the dynamics of a system of particles (70F25) Discrete approximations in optimal control (49M25)

Related Items (3)

The variational discretization of the constrained higher-order Lagrange-Poincaré equations ⋮ Variational integrators for mechanical control systems with symmetries ⋮ Geometric integrators for higher-order variational systems and their application to optimal control

Cites Work

• Geometric control and numerical aspects of nonholonomic systems
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Discrete vakonomic mechanics
• Optimal control of underactuated mechanical systems: A geometric approach
• HIGHER-ORDER DISCRETE LAGRANGIAN MECHANICS
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