Trajectory optimization of mechanical hybrid systems using SUMT
Trajectory optimization of mechanical hybrid systems using SUMT
复制标题
使用 SUMT 进行机械混合系统的轨迹优化
DOI：
10.1109/amc.2006.1631739
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
C. Glocker
中科院分区：
文献类型：
--
作者：
K. Yunt;C. Glocker
本报告的目的是提出一个统一的框架，用于确定非光滑轨迹的结构变力学系统沿着与计算方案。的好处表示的动态作为一个测量微分包含。将最优控制问题转化为一个非线性规划问题，并将其从无穷维表示转化为有限维表示。建立了与双层规划的关系。提出了一种确定状态和协态轨迹的数值方法，该方法能承受不连续性和集值性
The aim of this report is to propose a unified framework for the determination of non-smooth trajectories for structure-variant mechanical systems along with a computational scheme. The benefits to represent the dynamics as a measure-differential inclusion are presented. The optimal control problem is transcribed into a nonlinear programming problem (NLP) and transformed from the infinite dimensional representation into a finite dimensional representation. The relation to bilevel programming is established. A numerical scheme is proposed for the determination of the state and costate trajectories, which can bear discontinuities and set-valuedness