Title :
The Boltzmann-Hamel equations for optimal control
Author :
Maruskin, Jared M. ; Bloch, Anthony M.
Author_Institution :
Michigan Univ., Ann Arbor
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;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434390
