Intrinsic Optimal Control for Mechanical Systems on Lie Group
Joint Authors
Guo, Jie
Liu, Chao
Tang, Shengjing
Source
Advances in Mathematical Physics
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-07-12
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
The intrinsic infinite horizon optimal control problem of mechanical systems on Lie group is investigated.
The geometric optimal control problem is built on the intrinsic coordinate-free model, which is provided with Levi-Civita connection.
In order to obtain an analytical solution of the optimal problem in the geometric viewpoint, a simplified nominal system on Lie group with an extra feedback loop is presented.
With geodesic distance and Riemann metric on Lie group integrated into the cost function, a dynamic programming approach is employed and an analytical solution of the optimal problem on Lie group is obtained via the Hamilton-Jacobi-Bellman equation.
For a special case on SO(3), the intrinsic optimal control method is used for a quadrotor rotation control problem and simulation results are provided to show the control performance.
American Psychological Association (APA)
Liu, Chao& Tang, Shengjing& Guo, Jie. 2017. Intrinsic Optimal Control for Mechanical Systems on Lie Group. Advances in Mathematical Physics،Vol. 2017, no. 2017, pp.1-8.
https://search.emarefa.net/detail/BIM-1123245
Modern Language Association (MLA)
Liu, Chao…[et al.]. Intrinsic Optimal Control for Mechanical Systems on Lie Group. Advances in Mathematical Physics No. 2017 (2017), pp.1-8.
https://search.emarefa.net/detail/BIM-1123245
American Medical Association (AMA)
Liu, Chao& Tang, Shengjing& Guo, Jie. Intrinsic Optimal Control for Mechanical Systems on Lie Group. Advances in Mathematical Physics. 2017. Vol. 2017, no. 2017, pp.1-8.
https://search.emarefa.net/detail/BIM-1123245
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1123245