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Unified Formalism for Higher-order Variational Problems and Its Applications in Optimal Control by Colombo, Leonardo; Prieto-Martínez, Pedro D. is a scholarly article available to read on EtoBox.

What is Unified Formalism for Higher-order Variational Problems and Its Applications in Optimal Control about?

In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical Skinner-Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence, to obtain a unique vector field determining the dynamics. As an interesting application we deduce the equations of motion for optimal control of underactuated mechanical systems defined on principal bundles.

Author

Colombo, Leonardo; Prieto-Martínez, Pedro D.

Published

2013

Language

EN