2000 character limit reached
Discrete Optimal Control of Interconnected Mechanical Systems (1809.09191v2)
Published 24 Sep 2018 in cs.SY
Abstract: This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and subsequently solved using variational principles again, to obtain necessary conditions that characterize optimal trajectories. The proposed approach is demonstrated on benchmark underactuated systems and accompanied by numerical simulations.