Variational integrators for open-loop and closed-loop optimal control of mechanical systems |
| |
| Authors: | Kathrin Flaßkamp Todd D Murphey Christof Büskens |
| |
| Institution: | 1. Optimization and Optimal Control, Center for Industrial Mathematics (ZeTeM), Universität Bremen, Bibliothekstraße 5, 28359 Bremen, Germany;2. Neuroscience and Robotics Laboratory, Northwestern University, 2145 Sheridan Rd., Evanston, IL 60208, USA |
| |
| Abstract: | Mechanical systems have structural properties, e.g. symplecticity, symmetry, and a specific energy behavior, which get lost in standard integration methods. Therefore, symplectic integration methods are used in simulation and control of mechanical systems. This paper combines two methods of the class of structure-preserving control methods, namely a recently developed feedback control method and open loop optimal control based on variational integrator discretization. The combination is applied to the benchmark example of a cart pendulum system. (© 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) |
| |
| Keywords: | |
|
|
