文章基本信息

标题：Higher-Order Constrained Variational Problems on Principal Bundles with Applications to Optimal Control of Underactuated Systems
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作者：Leonardo Colombo ; Rohit Gupta ; Anthony Bloch 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：13
页码：87-92
DOI：10.1016/j.ifacol.2015.10.219
语种：English
出版社：Elsevier
摘要：AbstractThis paper explores the relationship between optimal control problems for underactuated mechanical systems with symmetries and the classical calculus of variations problem for constrained higher-order mechanical systems, where the configuration space of both problems are principal bundles. We give necessary optimality conditions for the optimal control problem using the constrained higherorder Lagrange-Poincaré equations which are derived from the constrained higher-order variational problem.
关键词：KeywordsHigher-order systemsvariational problemsLagrange-Poincaré equationsunderactuated systemsoptimal control