On the optimal control of rate-independent soft crawlers

DOI10.1016/j.matpur.2020.11.005zbMath1456.49007arXiv2002.08395OpenAlexW3096245363MaRDI QIDQ2224718

Giovanni Colombo, Paolo Gidoni

Publication date: 4 February 2021

Published in: Journal de Mathématiques Pures et Appliquées. Neuvième Série (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2002.08395

zbMATH Keywords

optimal controlnecessary optimality conditionsdiscrete approximationssweeping processsoft roboticscrawling locomotion

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Discrete approximations in optimal control (49M25) Existence theories for optimal control problems involving relations other than differential equations (49J21)

Related Items (8)

A doubly monotone flow for constant width bodies in ℝ³ ⋮ Limit cycles for dynamic crawling locomotors with periodic prescribed shape ⋮ Discrete approximations and optimality conditions for controlled free-time sweeping processes ⋮ Controlled polyhedral sweeping processes: existence, stability, and optimality conditions ⋮ Optimization of fully controlled sweeping processes ⋮ A vanishing-inertia analysis for finite-dimensional rate-independent systems with nonautonomous dissipation and an application to soft crawlers ⋮ Stabilization of periodic sweeping processes and asymptotic average velocity for soft locomotors with dry friction ⋮ Optimal Control of the Sweeping Process with a Nonsmooth Moving Set

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