Optimal Control for Nonlinear Oscillations of Natural Mechanical Systems

2021 ◽  
Vol 42 (11) ◽  
pp. 2596-2607
Author(s):  
Yu. F. Golubev
Keyword(s):  
Optimal Control ◽  
Nonlinear Oscillations ◽  
Mechanical Systems

Discrete Mechanics and Optimal Control Applied to Mechanical Systems

2019 ◽  
Author(s):  
Igor Afonso Acampora Prado ◽  
Davi Ferreira de Castro ◽  
Mauricio Andrés Varela Morales ◽  
Domingos Rade
Keyword(s):  
Optimal Control ◽  
Mechanical Systems ◽  
Discrete Mechanics

scholarly journals Intrinsic Optimal Control for Mechanical Systems on Lie Group

2017 ◽  
Vol 2017 ◽  
pp. 1-8
Author(s):  
Chao Liu ◽  
Shengjing Tang ◽  
Jie Guo
Keyword(s):  
Optimal Control ◽  
Analytical Solution ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Lie Group ◽  
Control Method ◽  
Geodesic Distance ◽  
Infinite Horizon ◽  
Mechanical Systems ◽  
Programming Approach

The intrinsic infinite horizon optimal control problem of mechanical systems on Lie group is investigated. The geometric optimal control problem is built on the intrinsic coordinate-free model, which is provided with Levi-Civita connection. In order to obtain an analytical solution of the optimal problem in the geometric viewpoint, a simplified nominal system on Lie group with an extra feedback loop is presented. With geodesic distance and Riemann metric on Lie group integrated into the cost function, a dynamic programming approach is employed and an analytical solution of the optimal problem on Lie group is obtained via the Hamilton-Jacobi-Bellman equation. For a special case on SO(3), the intrinsic optimal control method is used for a quadrotor rotation control problem and simulation results are provided to show the control performance.

A phase-plane approach to time-optimal control of single-DOF mechanical systems with friction

Automatica ◽  
2003 ◽  
Vol 39 (8) ◽  
pp. 1407-1415 ◽  
Author(s):  
Dong-Soo Choi ◽  
Seung-Jean Kim ◽  
In-Joong Ha
Keyword(s):  
Optimal Control ◽  
Phase Plane ◽  
Mechanical Systems ◽  
Time Optimal Control ◽  
Time Optimal
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