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Variational integrators for open‐loop and closed‐loop optimal control of mechanical systems
Author(s) -
Flaßkamp Kathrin,
Murphey Todd D.,
Büskens Christof
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710363
Subject(s) - variational integrator , discretization , mechanical system , integrator , control theory (sociology) , benchmark (surveying) , symplectic geometry , computer science , loop (graph theory) , pendulum , control system , open loop controller , control (management) , control engineering , mathematics , engineering , closed loop , artificial intelligence , mechanical engineering , mathematical analysis , computer network , geodesy , bandwidth (computing) , electrical engineering , geography , combinatorics
Mechanical systems have structural properties, e.g. symplecticity, symmetry, and a specific energy behavior, which get lost in standard integration methods. Therefore, symplectic integration methods are used in simulation and control of mechanical systems. This paper combines two methods of the class of structure‐preserving control methods, namely a recently developed feedback control method and open loop optimal control based on variational integrator discretization. The combination is applied to the benchmark example of a cart pendulum system. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)