Title :
Abnormal minimizers in nonholonomic mechanical control systems
Author :
Xia Qianqian ; Geng Zhiyong
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Peking Univ., Beijing, China
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;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
