Discrete Geometric Optimal Control on Lie Groups

We consider the optimal control of mechanical systems on Lie groups and develop numerical methods that exploit the structure of the state space and preserve the system motion invariants. Our approach is based on a coordinate-free variational discretization of the dynamics that leads to structure-pre...

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Veröffentlicht in:	IEEE transactions on robotics 2011-08, Vol.27 (4), p.641-655
Hauptverfasser:	Kobilarov, M. B., Marsden, J. E.
Format:	Artikel
Sprache:	eng
Schlagworte:	Aerospace electronics Algorithms Approximation methods Control algorithms Control systems Discrete mechanics Dynamical systems Dynamics Equations Exact sciences and technology Fundamental areas of phenomenology (including applications) geometric optimization Invariants Lie groups Mechanical systems Numerical analysis Optimal control Optimization Physics Preserves Robotics Satellites Solid dynamics (ballistics, collision, multibody system, stabilization...) Solid mechanics Trajectory underactuated systems
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