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2016•Unpublished venueRequires access

QUASIVELOCITIES AND OPTIMAL CONTROL FOR UNDERACTUATED MECHANICAL SYSTEMS

Leonardo Colombo, David, Martín De Diego

Open publisher page 1 citations

Abstract

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.

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What this paper is about

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.

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Available abstract

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.

Key concepts: Underactuation, Formalism (music), Lagrangian, Mechanical system, Control theory (sociology), Optimal control, Equations of motion, Computer science

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