On the optimal control of rate-independent soft crawlers

@article{Colombo2020OnTO,
  title={On the optimal control of rate-independent soft crawlers},
  author={G. Colombo and P. Gidoni},
  journal={arXiv: Optimization and Control},
  year={2020}
}
Existence of optimal solutions and necessary optimality conditions for a controlled version of Moreau's sweeping process are derived. The control is a measurable ingredient of the dynamics and the constraint set is a polyhedron. The novelty consists in considering time periodic trajectories, adding the requirement that the control have zero average, and considering an integral functional that lacks weak semicontinuity. A model coming from the locomotion of a soft-robotic crawler, that motivated… Expand

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