A Discrete Variational Integrator for Optimal Control Problems on SO(3)

  title={A Discrete Variational Integrator for Optimal Control Problems on SO(3)},
  author={I. I. Hussein and Melvin Leok and A. K. Sanyal and A. Bloch},
  journal={Proceedings of the 45th IEEE Conference on Decision and Control},
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition. Instead of discretizing the equations of motion, we use the discrete equations obtained from the discrete Lagrange-d'Alembert principle, a process that better approximates the equations of motion. Within the discrete-time setting, these two approaches are not… CONTINUE READING
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