Quasivelocities and Optimal Control for Underactuated Mechanical Systems
L.Colombo, D.Martin de Diego
TL;DR
This paper applies quasivelocities and geometric methods to formulate and solve optimal control problems for underactuated mechanical systems, providing a new framework for handling constraints and deriving equations of motion.
Contribution
It introduces a novel application of quasivelocities combined with Skinner-Rusk formalism for optimal control of underactuated systems, enhancing geometric control techniques.
Findings
Derived equations of motion using geometric formalism
Converted control problems into variational second-order systems
Provided a new framework for constrained underactuated systems
Abstract
This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.
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