In this paper we study a class of optimal control problems known as the /spl tau/-elastic variational problem for second order, under-actuated systems.
Abstract—In this paper we study a class of optimal con- trol problems known as the τ-elastic variational problem for second order, under-actuated systems.
In this paper we study a class of optimal control problems known as the /spl tau/-elastic variational problem for second order, under-actuated systems.
We consider the optimal control of mechanical systems evolving on a finite dimensional Lie group. Our primary motivation is the control of autonomous vehicles ...
Oct 22, 2024 · We provide controllability tests and motion control algorithms for underactuated mechanical control systems on Lie groups with Lagrangian ...
Clearly, the Lagrangian L is G- invariant. It is the content of the maximum principle that optimal curves in G are base integral curves of a hamiltonian vector ...
This paper considers control affine left-invariant systems evolving on matrix Lie groups. Such systems have significant applications in a variety of fields.
4.4 Application to Lie Groups . . . . . . . . . . . . . . . . . . . . 63 ... If m n, then the left-invariant control system is under-actuated otherwise ...
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Mar 22, 2024 · The goal of this work is to extend the idea of Lie-Poisson reduction to the optimal control of these systems. If n 𝑛 n italic_n is the dimension ...
Abstract. The purpose of our paper is to study a class of left-invariant, drift-free optimal control problem on the Lie group ISO(3,1).