Computer Science > Systems and Control
[Submitted on 1 Nov 2014 (v1), last revised 1 Apr 2015 (this version, v3)]
Title:Polynomial mechanics and optimal control
View PDFAbstract:We describe a new algorithm for trajectory optimization of mechanical systems. Our method combines pseudo-spectral methods for function approximation with variational discretization schemes that exactly preserve conserved mechanical quantities such as momentum. We thus obtain a global discretization of the Lagrange-d'Alembert variational principle using pseudo-spectral methods. Our proposed scheme inherits the numerical convergence characteristics of spectral methods, yet preserves momentum-conservation and symplecticity after discretization. We compare this algorithm against two other established methods for two examples of underactuated mechanical systems; minimum-effort swing-up of a two-link and a three-link acrobot.
Submission history
From: Akshay Srinivasan [view email][v1] Sat, 1 Nov 2014 23:16:22 UTC (151 KB)
[v2] Thu, 6 Nov 2014 21:11:17 UTC (153 KB)
[v3] Wed, 1 Apr 2015 04:26:10 UTC (212 KB)
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