Optimal Control on the Rotation Group SO (3)

Optimal Control on the Rotation Group SO (3)

A typical left-invariant optimal control problem on the rotation group SO (3) is investigated. The reduced Hamilton equations associated with an extremal curve are derived in a simple and elegant manner. These equations are then explicitly integrated by Jacobi elliptic functions.

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Veröffentlicht in:Carpathian Journal of Mathematics 2012-01, Vol.28 (2), p.321-328
1. Verfasser: Remsing, Claudiu C.
Format: Artikel
Sprache:eng
Schlagworte:
Algebra
Control systems
Control theory
Cotangent function
Elliptic functions
Lie groups
Mathematics
Maximum principle
Optimal control
Trajectories
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Beschreibung
Zusammenfassung:A typical left-invariant optimal control problem on the rotation group SO (3) is investigated. The reduced Hamilton equations associated with an extremal curve are derived in a simple and elegant manner. These equations are then explicitly integrated by Jacobi elliptic functions.
ISSN:1584-2851
1843-4401
DOI:10.37193/CJM.2012.02.03