Now showing items 1-11 of 11

  • A geometric study of abnormality in optimal control problems for control and mechanical control systems 

    Barbero Liñán, María (Universitat Politècnica de Catalunya, 2008-12-19)
    Doctoral thesis
  • Characterization of accessibility for affine connection control systems at some points with nonzero velocity 

    Barbero Liñán, María (2011)
    Conference lecture
    Restricted access - publisher's policy
    Affine connection control systems are mechanical control systems that model a wide range of real systems such as robotic legs, hovercrafts, planar rigid bodies, rolling pennies, snakeboards and so on. In 1997 the accessibility ...
  • Constraint algorithm for extremals in optimal control problems 

    Barbero Liñán, María; Muñoz Lecanda, Miguel Carlos (2007-07-27)
    Article
    Open Access
    A characterization of different kinds of extremals of optimal control problems is given if we take an open control set. A well known constraint algorithm for implicit differential equations is adapted to the study of ...
  • Geometric approach to Pontryagin's Maximum Principle 

    Barbero Liñán, María; Muñoz Lecanda, Miguel Carlos (Springer Netherlands, 2008-10)
    Article
    Open Access
    Since the second half of the 20th century, Pontryagin’s Maximum Principle has been widely discussed and used as a method to solve optimal control problems in medicine, robotics, finance, engineering, astronomy. Here, we ...
  • Kinematic reduction and the Hamilton-Jacobi equation 

    Barbero Liñán, María; De León, Manuel; Martin de Diego, David; Marrero, Juan Carlos; Muñoz Lecanda, Miguel Carlos (American Institute of Mathematical Sciences, 2012)
    Article
    Open Access
    A close relationship between the classical Hamilton- Jacobi theory and the kinematic reduction of control systems by decoupling vector fields is shown in this paper. The geometric interpretation of this relationship ...
  • Optimal control problems for affine connection control systems: characterization of extremals 

    Barbero Liñán, María; Muñoz Lecanda, Miguel Carlos (American Institute of Physics, 2008-02)
    Conference report
    Open Access
    Pontryagin’s Maximum Principle [8] is considered as an outstanding achievement of optimal control theory. This Principle does not give sufficient conditions to compute an optimal trajectory; it only provides necessary ...
  • Skinner-Rusk formalism for optimal control 

    Barbero Liñán, María; Echeverría Enríquez, Arturo; Martín de Diego, David; Muñoz Lecanda, Miguel Carlos; Román Roy, Narciso (2006-12)
    Article
    Open Access
    In 1983, the dynamics of a mechanical system was represented by a first-order system on a suitable phase space by R. Skinner and R. Rusk. The corresponding unified formalism developed for optimal control systems allows us ...
  • Skinner-Rusk unified formalism for optimal control systems and applications 

    Barbero Liñán, María; Echeverría Enríquez, Arturo; Martín de Diego, David; Muñoz Lecanda, Miguel Carlos; Román Roy, Narciso (2007-05-15)
    Article
    Open Access
    A geometric approach to time-dependent optimal control problems is proposed. This formulation is based on the Skinner and Rusk formalism for Lagrangian and Hamiltonian systems. The corresponding unified formalism developed ...
  • Strict abnormal extremals in nonholonomic and kinematic control systems 

    Barbero Liñán, María; Muñoz Lecanda, Miguel Carlos (2008-06)
    Article
    Open Access
    In optimal control problems, there exist different kinds of extremals, that is, curves candidates to be solution: abnormal, normal and strictly abnormal. The key point for this classification is how those extremals ...
  • Unified formalism for non-autonomous mechanical systems 

    Barbero Liñán, María; Echeverría Enríquez, Arturo; Martín de Diego, David; Muñoz Lecanda, Miguel Carlos; Román Roy, Narciso (AIP, 2008-06-01)
    Working paper
    Open Access
    We present a unified geometric framework for describing both the Lagrangian and Hamiltonian formalisms of regular and non-regular time-dependent mechanical systems, which is based on the approach of Skinner and Rusk (1983). ...
  • Unified formalism for non-autonomous mechanical systems 

    Barbero Liñán, María; Echeverría Enríquez, Arturo; Martín de Diego, David; Muñoz Lecanda, Miguel Carlos; Román Roy, Narciso (2008-02-29)
    Article
    Open Access
    We present a unified geometric framework for describing both the Lagrangian and Hamiltonian formalisms of regular and non-regular time-dependent mechanical systems, which is based on the approach of Skinner and Rusk ...