DocumentCode
2568188
Title
A geometric approach to discrete mechanics for optimal control theory
Author
Jiménez, Fernando ; De Diego, David Martín
Author_Institution
Inst. de Cienc. Mat., CSIC, Madrid, Spain
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
5426
Lastpage
5431
Abstract
In this paper, we will discuss some new developments in the design of numerical methods for optimal control problems for controlled Lagrangian systems. We will construct these geometric integrators using discrete variational calculus. The derived techniques are also valid for reduced systems, including systems defined on Lie algebras and Atiyah bundles. We will illustrate with several theoretical examples the wide range of application of this theory.
Keywords
Lie algebras; geometry; optimal control; variational techniques; Atiyah bundles; Lie algebra; controlled Lagrangian systems; discrete mechanics; discrete variational calculus; geometric approach; geometric integrators; optimal control problems; optimal control theory; reduced systems; Algebra; Approximation methods; Equations; Force; Manifolds; Mechanical systems; Optimal control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5717181
Filename
5717181
Link To Document