DocumentCode
2820690
Title
The Boltzmann-Hamel equations for optimal control
Author
Maruskin, Jared M. ; Bloch, Anthony M.
Author_Institution
Michigan Univ., Ann Arbor
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
554
Lastpage
559
Abstract
We introduce a fourth order version of the Boltzmann-Hamel equations, which yields a reduced set of equations for the kinematic and dynamic optimal control problems for mechanical systems with nonholonomic constraints. In particular, we will show the dynamic optimal control problem can be written as a minimal set of 4n - 2m first order differential equations of motion.
Keywords
Boltzmann equation; differential equations; mechanical variables control; optimal control; Boltzmann-Hamel equations; dynamic optimal control; first order differential equations; kinematic optimal control; mechanical systems; nonholonomic constraints; optimal control; Control systems; Differential equations; Kinematics; Lagrangian functions; Mathematics; Mechanical systems; Motion control; Optimal control; USA Councils; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434390
Filename
4434390
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