Optimal control of perturbed sweeping processes with applications to general robotics models
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2024
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866916247035183104 |
|---|---|
| author | Colombo, Giovanni Mordukhovich, Boris S. Nguyen, Dao Nguyen, Trang Ortiz-Robinson, Norma |
| author_facet | Colombo, Giovanni Mordukhovich, Boris S. Nguyen, Dao Nguyen, Trang Ortiz-Robinson, Norma |
| contents | This paper primarily focuses on the practical applications of optimal control theory for perturbed sweeping processes within the realm of robotics dynamics. By describing these models as controlled sweeping processes with pointwise control and state constraints and by employing necessary optimality conditions for such systems, we formulate optimal control problems suitable to these models and develop numerical algorithms for their solving. Subsequently, we use the Python Dynamic Optimization library GEKKO to simulate solutions to the posed robotics problems in the case of any fixed number of robots under different initial conditions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_08986 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Optimal control of perturbed sweeping processes with applications to general robotics models Colombo, Giovanni Mordukhovich, Boris S. Nguyen, Dao Nguyen, Trang Ortiz-Robinson, Norma Optimization and Control 49J40, 49J53, 49K24, 49M25, 70B15, 93C73 This paper primarily focuses on the practical applications of optimal control theory for perturbed sweeping processes within the realm of robotics dynamics. By describing these models as controlled sweeping processes with pointwise control and state constraints and by employing necessary optimality conditions for such systems, we formulate optimal control problems suitable to these models and develop numerical algorithms for their solving. Subsequently, we use the Python Dynamic Optimization library GEKKO to simulate solutions to the posed robotics problems in the case of any fixed number of robots under different initial conditions. |
| title | Optimal control of perturbed sweeping processes with applications to general robotics models |
| topic | Optimization and Control 49J40, 49J53, 49K24, 49M25, 70B15, 93C73 |
| url | https://arxiv.org/abs/2405.08986 |