Year: 2012
Type: preprint
Abstract: We reconsider the variational integration of optimal control problems for mechanical systems based on a direct discretization of the Lagrange-d'Alembert principle. This approach yields discrete dynamical constraints which by construction preserve important structural properties of the system, like the evolution of the momentum maps or the energy behavior. Here, we employ higher order quadrature rules based on polynomial collocation. The resulting variational time discretization decreases the overall computational effort.
Source: arXiv (Cornell University)
Authors: Campos, C. M., Junge, O., Ober-Blöbaum, S.
Institutions: Technical University of Munich, Paderborn University
Language: English
Subfield: Numerical Analysis
Field: Mathematics
Domain: Physical Sciences
Open Access status: green
Funder: Deutsche Forschungsgemeinschaft
OpenAlex ID: W2963838214