Title :
Optimal control of a somersaulting platform diver: a numerical approach
Author :
Murthy, Nukala V R K N ; Keerthi, S. Sathiya
Author_Institution :
Dept. of Mech. Eng., Indian Inst. of Technol., Madras, India
Abstract :
The somersaulting maneuver of a platform diver is studied. An effective numerical approach for obtaining an optimal solution for this motion is given. The diver is modeled as a planar system of interconnected multibodies, and controllability is proved in a sense dictated by the problem. A time-optimal control problem with state and control constraints is set up and solved using a numerical approach. The numerical solution agrees well with motions executed by professional divers
Keywords :
biocontrol; biomechanics; controllability; large-scale systems; numerical analysis; optimal control; physiological models; control constraints; controllability; interconnected multibodies; numerical approach; planar system; somersaulting platform diver; state constraints; time-optimal control; Automation; Computer science; Controllability; Hip; Interconnected systems; Manipulator dynamics; Mechanical engineering; Optimal control; Robustness; Shoulder;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292108
