Name
Abstract | ||
|---|---|---|
In this paper we analyze a class of discrete optimal control problems. These systems are discretizations of a class of optimal control problems defined on invariant submanifolds which we denote embedded optimal control problems. We analyze a particular subset of these called discrete Clebsch optimal control problems where the invariant manifolds are group orbits. The generating Hamiltonian equations for such systems are analyzed. The analysis provides a large class of geometric integrators for mechanical systems. We apply the theory to two example systems: mechanical systems on matrix Lie groups and mechanical systems on the n-sphere. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/CDC.2012.6426604 | CDC |
Keywords | Field | DocType |
optimal control,n-sphere,lie groups,lie algebras,mechanical system,invariant submanifold,matrix lie group,discrete clebsch optimal control,group orbits,discrete systems,geometric integrator,hamiltonian equation | Lie group,Topology,Mathematical optimization,Simple Lie group,Optimal control,Algebra,Matrix (mathematics),Invariant (mathematics),Lie theory,Lie algebra,Mathematics,Manifold | Conference |
ISSN | ISBN | Citations |
0743-1546 E-ISBN : 978-1-4673-2064-1 | 978-1-4673-2064-1 | 0 |
PageRank | References | Authors |
0.34 | 3 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nikolaj Nordkvist | 1 | 21 | 2.47 |
| Peter E. Crouch | 2 | 34 | 5.80 |
| Anthony M. Bloch | 3 | 61 | 19.51 |