On variational integrators for optimal control of mechanical control systems

Autores
Colombo, Leonardo; Diego, David Martín de; Zuccalli, Marcela
Año de publicación
2011
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Facultad de Ciencias Exactas
Materia
Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
Nivel de accesibilidad
acceso abierto
Condiciones de uso
http://creativecommons.org/licenses/by-nc-sa/4.0/
Repositorio
SEDICI (UNLP)
Institución
Universidad Nacional de La Plata
OAI Identificador
oai:sedici.unlp.edu.ar:10915/130746
Acceder
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oai_identifier_str oai:sedici.unlp.edu.ar:10915/130746
network_acronym_str SEDICI
repository_id_str 1329
network_name_str SEDICI (UNLP)
spelling On variational integrators for optimal control of mechanical control systemsColombo, LeonardoDiego, David Martín deZuccalli, MarcelaCiencias ExactasMatemáticaUnderactuated mechanical systemConstrained variational calculusOptimal controlVakonomic mechanicsHigher-order mechanicsDiscrete mechanicsVariational integratorsIn 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.Facultad de Ciencias Exactas2011-03info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionArticulohttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdf161-171http://sedici.unlp.edu.ar/handle/10915/130746enginfo:eu-repo/semantics/altIdentifier/issn/1578-7303info:eu-repo/semantics/altIdentifier/issn/1579-1505info:eu-repo/semantics/altIdentifier/doi/10.1007/s13398-011-0032-8info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-sa/4.0/Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-09-29T11:32:37Zoai:sedici.unlp.edu.ar:10915/130746Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-09-29 11:32:38.043SEDICI (UNLP) - Universidad Nacional de La Platafalse
dc.title.none.fl_str_mv On variational integrators for optimal control of mechanical control systems
title On variational integrators for optimal control of mechanical control systems
spellingShingle On variational integrators for optimal control of mechanical control systems
Colombo, Leonardo
Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
title_short On variational integrators for optimal control of mechanical control systems
title_full On variational integrators for optimal control of mechanical control systems
title_fullStr On variational integrators for optimal control of mechanical control systems
title_full_unstemmed On variational integrators for optimal control of mechanical control systems
title_sort On variational integrators for optimal control of mechanical control systems
dc.creator.none.fl_str_mv Colombo, Leonardo
Diego, David Martín de
Zuccalli, Marcela
author Colombo, Leonardo
author_facet Colombo, Leonardo
Diego, David Martín de
Zuccalli, Marcela
author_role author
author2 Diego, David Martín de
Zuccalli, Marcela
author2_role author
author
dc.subject.none.fl_str_mv Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
topic Ciencias Exactas
Matemática
Underactuated mechanical system
Constrained variational calculus
Optimal control
Vakonomic mechanics
Higher-order mechanics
Discrete mechanics
Variational integrators
dc.description.none.fl_txt_mv 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.
Facultad de Ciencias Exactas
description 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.
publishDate 2011
dc.date.none.fl_str_mv 2011-03
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Articulo
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://sedici.unlp.edu.ar/handle/10915/130746
url http://sedici.unlp.edu.ar/handle/10915/130746
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/issn/1578-7303
info:eu-repo/semantics/altIdentifier/issn/1579-1505
info:eu-repo/semantics/altIdentifier/doi/10.1007/s13398-011-0032-8
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-sa/4.0/
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
dc.format.none.fl_str_mv application/pdf
161-171
dc.source.none.fl_str_mv reponame:SEDICI (UNLP)
instname:Universidad Nacional de La Plata
instacron:UNLP
reponame_str SEDICI (UNLP)
collection SEDICI (UNLP)
instname_str Universidad Nacional de La Plata
instacron_str UNLP
institution UNLP
repository.name.fl_str_mv SEDICI (UNLP) - Universidad Nacional de La Plata
repository.mail.fl_str_mv alira@sedici.unlp.edu.ar
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score 13.070432

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