On the formulation of cost functions for torque-optimized control of rigid bodies

DOI10.1016/j.automatica.2014.08.005zbMath1301.93021OpenAlexW2080667437MaRDI QIDQ472614

Oliver M. O'Reilly

Publication date: 19 November 2014

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://escholarship.org/uc/item/4gw9j48v

zbMATH Keywords

rotationsmodeling for control optimizationkinetic modeling and control of biological systemsmodel formulationtorques

Mathematics Subject Classification ID

Geometric methods (93B27) Control of mechanical systems (70Q05) Systems biology, networks (92C42)

Cites Work

• Geometric structure-preserving optimal control of a rigid body
• Potential and optimal control of human head movement using Tait-Bryan parametrization
• The Dual Euler Basis: Constraints, Potentials, and Lagrange’s Equations in Rigid-Body Dynamics
• Intermediate Dynamics for Engineers

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