Trajectory optimization of mechanical hybrid systems using SUMT

Author

Yunt, Kerim ; Glocker, Christoph

Author_Institution

Mechanical & Process Eng., Inst. of Mechanical Syst., Zurich

fYear

0

fDate

0-0 0

Firstpage

665

Lastpage

671

Abstract

The aim of this report is to propose a unified framework for the determination of non-smooth trajectories for structure-variant mechanical systems along with a computational scheme. The benefits to represent the dynamics as a measure-differential inclusion are presented. The optimal control problem is transcribed into a nonlinear programming problem (NLP) and transformed from the infinite dimensional representation into a finite dimensional representation. The relation to bilevel programming is established. A numerical scheme is proposed for the determination of the state and costate trajectories, which can bear discontinuities and set-valuedness

Keywords

legged locomotion; manipulator dynamics; minimisation; multidimensional systems; nonlinear programming; optimal control; SUMT; bilevel programming; costate trajectories; dynamics representation; finite dimensional representation; measure-differential inclusion; mechanical hybrid systems; nonlinear programming problem; nonsmooth trajectories; optimal control problem; sequential unconstrained minimization technique; state trajectories; structure-variant mechanical systems; trajectory optimization; Books; Calculus; Constraint optimization; Force control; Friction; Lagrangian functions; Mechanical systems; Mechanical variables control; Mechanical variables measurement; Optimal control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2006. 9th IEEE International Workshop on

Conference_Location

Istanbul

Print_ISBN

0-7803-9511-1

Type

conf

DOI

10.1109/AMC.2006.1631739

Filename

1631739