Flaßkamp, Kathrin: On the optimal control of mechanical systems - hybrid control strategies and hybrid dynamics. 2014
Inhalt
- Introduction
- Mechanical Systems
- Optimal Control
- Basic Definitions and Concepts
- Formulation of Optimal Control Problems
- Necessary Optimality Conditions
- Multiobjective Optimal Control
- Numerical Treatment of Optimal Control Problems
- The Method DMOC (Discrete Mechanics and Optimal Control)
- Technical Application
- Energy Optimal Control by Exploiting Inherent Dynamics
- Global Dynamics of Mechanical Systems
- Control Strategies on (Un)Stable Manifolds
- Application to Swing-Ups of Double Pendula
- Motion Planning with Motion Primitives
- Types of Motion Primitives
- Maneuver Automaton
- Trim Primitives for Mechanical Systems
- Motion Primitives on (Un)Stable Manifolds
- Extended Motion Planning
- Applications
- Hybrid Mechanical Systems and Optimal Control
- Basic Definitions for Hybrid Systems
- Hybrid Mechanics
- Optimal Control of Hybrid Lagrangian Control Systems
- Switching Time Optimization
- Motion Planning and Hybrid Systems
- Motion Planning with Motion Primitives as a Hybrid System
- Hybrid Trim Primitives
- Hybrid Sequences of Motion Primitives
- Conclusion and Outlook
- Appendix Differential Geometry
- Appendix Further Numerical Methods
- Appendix Modeling Details
- List of Figures
- Bibliography