Browsing by Author "Barbero Liñán, María"
Now showing items 1-11 of 11
-
A geometric study of abnormality in optimal control problems for control and mechanical control systems
(Universitat Politècnica de Catalunya, 2008-12-19)
Doctoral thesis
Open AccessDurant els darrers quaranta anys la geometria diferencial ha estat una eina fonamental per entendre la teoria de control òptim. Habitualment la millor estratègia per resoldre un problema és transformar-lo en un altre ... -
Characterization of accessibility for affine connection control systems at some points with nonzero velocity
(2011)
Conference lecture
Restricted access - publisher's policyAffine 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
(2007-07-27)
Article
Open AccessA 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
(Springer Netherlands, 2008-10)
Article
Open AccessSince 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
(American Institute of Mathematical Sciences, 2012)
Article
Open AccessA 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
(American Institute of Physics, 2008-02)
Conference report
Open AccessPontryagin’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
(2006-12)
Article
Open AccessIn 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
(2007-05-15)
Article
Open AccessA 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
(2008-06)
Article
Open AccessIn 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
(2008-02-29)
Article
Open AccessWe 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 ... -
Unified formalism for non-autonomous mechanical systems
(AIP, 2008-06-01)
Working paper
Open AccessWe 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). ...
