Discrete mechanics and optimal control: An analysis
Sina Ober-Blöbaum, Oliver Junge, Jerrold E. Marsden (2011)
ESAIM: Control, Optimisation and Calculus of Variations
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The optimal control of a mechanical system is of crucial importance in many application areas. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion sequences in robotics and biomechanics. In most cases, some sort of discretization of the original, infinite-dimensional optimization problem has to be performed in order to make the problem amenable to computations. The approach proposed...