DISCRETE MECHANICS AND OPTIMAL CONTROL: AN ANALYSIS ∗

@article{OberBlbaum2008DISCRETEMA,
  title={DISCRETE MECHANICS AND OPTIMAL CONTROL: AN ANALYSIS ∗},
  author={Sina Ober-Bl{\"o}baum and Oliver Junge and Jerrold E. Marsden},
  journal={ESAIM: Control, Optimisation and Calculus of Variations},
  year={2008},
  volume={17},
  pages={322-352}
}
  • Sina Ober-Blöbaum, Oliver Junge, Jerrold E. Marsden
  • Published 2008
  • Mathematics
  • ESAIM: Control, Optimisation and Calculus of Variations
  • The optimal control of a mechanical system is of crucial importance in many application areas. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion sequences in robotics and biomechanics. In most cases, some sort of discretization of the original, infinite-dimensional optimization problem has to be performed in order to make the problem amenable to computations. The approach proposed in this… CONTINUE READING

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