Academic Journal
Geometric optimal trajectory tracking of nonholonomic mechanical systems
| العنوان: | Geometric optimal trajectory tracking of nonholonomic mechanical systems |
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| المؤلفون: | Colombo, Leonardo, Martin de Diego, David, Nayak, A., Sato Martín De Almagro, Rodrigo T. |
| المساهمون: | Ministerio de Economía, Industria y Competitividad (España) |
| بيانات النشر: | Society for Industrial and Applied Mathematics |
| سنة النشر: | 2020 |
| المجموعة: | Digital.CSIC (Consejo Superior de Investigaciones Científicas / Spanish National Research Council) |
| مصطلحات موضوعية: | optimal control, trajectory planning, nonholonomic systems, variational integrators |
| الوصف: | We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory, both evolving on the distribution which defines the nonholonomic constraints. The problem is studied from a geometric framework. Optimality conditions are determined by the Pontryagin maximum principle and also from a variational point of view, which allows the construction of geometric integrators. Examples and numerical simulations are shown to validate the results. ; The work of A. Nayak has been partially supported by Alianza 4 Erasmus FMTM2016-76702-P; “Severo Ochoa Programme for Centres of Excellence” in R&D (SEV-2015-0554). The project that gave rise to these results received also the support of a fellowship from “la Caixa” Foundation (ID 100010434). The fellowship code is LCF/BQ/PI19/11690016. Some of the results in Sections 2 and 4 of this work, without proofs, have been presented at 2019 American Control Conference and published in the proceedings of the conference [28]. ellowship. This work was partially supported by I-Link Project (Ref: linkA20079) from CSIC; Ministerio de Economıa, Industria y Competitividad (MINECO, Spain) under grant |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | unknown |
| تدمد: | 0363-0129 |
| Relation: | #PLACEHOLDER_PARENT_METADATA_VALUE#; info:eu-repo/grantAgreement/EC/FP7/76702; info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/SEV-2015-0554; Preprint; http://dx.doi.org/10.1137/19M1243464; Sí; SIAM Journal on Control and Optimization 58: 1652- 1675 (2020); http://hdl.handle.net/10261/226342; http://dx.doi.org/10.13039/501100010198 |
| DOI: | 10.1137/19M1243464 |
| DOI: | 10.13039/501100010198 |
| الاتاحة: | http://hdl.handle.net/10261/226342 https://doi.org/10.1137/19M1243464 https://doi.org/10.13039/501100010198 |
| Rights: | open |
| رقم الانضمام: | edsbas.493F0B18 |
| قاعدة البيانات: | BASE |
| تدمد: | 03630129 |
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| DOI: | 10.1137/19M1243464 |