DocumentCode
1709667
Title
Abnormal minimizers in nonholonomic mechanical control systems
Author
Xia Qianqian ; Geng Zhiyong
Author_Institution
Dept. of Mech. & Aerosp. Eng., Peking Univ., Beijing, China
fYear
2013
Firstpage
2377
Lastpage
2381
Abstract
In this paper, it is concerned with the problem of finding abnormal minimizers in nonholonomic mechanical control systems. Relations between nonholonomic mechanical and kinematic optimal control problems are established. For rank-two distributions, the abnormal minimizers in kinematic control systems are used to get abnormal minimizers for the length-minimizing problem in the corresponding nonholonomic mechanical control systems. Finally our ideas are illustrated by considering examples of nonholonomic mechanical systems.
Keywords
kinematics; mechanical products; nonlinear control systems; optimal control; abnormal minimizers problem; kinematic optimal control problems; nonholonomic mechanical control systems; nonholonomic mechanical optimal control problems; rank-two distributions; Cost function; Equations; Kinematics; Measurement; Optimal control; Vectors; Pontryagain´s Maximum Principle; abnormal extremals; nonholonomic mechanical control systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2013 32nd Chinese
Conference_Location
Xi´an
Type
conf
Filename
6639824
Link To Document