On variational integrators for optimal control of mechanical control systems

dc.creatorColombo, Leonardo
dc.creatorDiego, David Martín de
dc.creatorZuccalli, Marcela
dc.date2011-03
dc.date2022-02-09T12:40:27Z
dc.date.accessioned2023-07-15T05:15:06Z
dc.date.available2023-07-15T05:15:06Z
dc.identifierhttp://sedici.unlp.edu.ar/handle/10915/130746
dc.identifierissn:1578-7303
dc.identifierissn:1579-1505
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7472654
dc.descriptionIn 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.
dc.descriptionFacultad de Ciencias Exactas
dc.formatapplication/pdf
dc.format161-171
dc.languageen
dc.rightshttp://creativecommons.org/licenses/by-nc-sa/4.0/
dc.rightsCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
dc.subjectCiencias Exactas
dc.subjectMatemática
dc.subjectUnderactuated mechanical system
dc.subjectConstrained variational calculus
dc.subjectOptimal control
dc.subjectVakonomic mechanics
dc.subjectHigher-order mechanics
dc.subjectDiscrete mechanics
dc.subjectVariational integrators
dc.titleOn variational integrators for optimal control of mechanical control systems
dc.typeArticulo
dc.typeArticulo


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