scholarly journals Discrete mechanics and optimal control for constrained systems

2010 ◽  
Vol 31 (6) ◽  
pp. 505-528 ◽  
Author(s):  
S. Leyendecker ◽  
S. Ober-Blöbaum ◽  
J. E. Marsden ◽  
M. Ortiz
Keyword(s):  
Optimal Control ◽  
Constrained Systems ◽  
Discrete Mechanics

Discrete Mechanics and Optimal Control of Walking Gaits

2016 ◽  
Vol 12 (2) ◽  
Author(s):  
M. W. Koch ◽  
M. Ringkamp ◽  
S. Leyendecker
Keyword(s):  
Optimal Control ◽  
Time Span ◽  
Constrained Systems ◽  
Bipedal Walking ◽  
Interval Length ◽  
Time Interval ◽  
Discrete Mechanics ◽  
Flat Foot ◽  
Flat Feet ◽  
Heel Contact

In this work, we optimally control the upright gait of a three-dimensional symmetric bipedal walking model with flat feet. The whole walking cycle is assumed to occur during a fixed time span while the time span for each of the cycle phases is variable and part of the optimization. The implemented flat foot model allows to distinguish forefoot and heel contact such that a half walking cycle consists of five different phases. A fixed number of discrete time nodes in combination with a variable time interval length assure that the discretized problem is differentiable even though the particular time of establishing or releasing the contact between the foot and the ground is variable. Moreover, the perfectly plastic contact model prevents penetration of the ground. The optimal control problem is solved by our structure preserving discrete mechanics and optimal control for constrained systems (DMOCC) approach where the considered cost function is physiologically motivated and the obtained results are analyzed with regard to the gait of humans walking on a horizontal and an inclined plane.

Active Set Algorithm Applied to Discrete Mechanics and Optimal Control for Constrained Systems

2015 ◽  
Vol 723 ◽  
pp. 210-214 ◽  
Author(s):  
Lei Gao
Keyword(s):  
Optimal Control ◽  
Quadratic Programming ◽  
Sequential Quadratic Programming ◽  
Constrained Systems ◽  
Rigid Sphere ◽  
Discrete Mechanics ◽  
Active Set ◽  
Slow Convergence ◽  
Active Set Algorithm ◽  
Nonlinear Equality

Discrete mechanics and optimal control for constrained systems (DMOCC) is a new developed solution for mechanical control. The formulation of DMOCC is attributed to nonlinear equality constraints for the minimization of an appointed cost function. Traditionally, the equations are solved by standard sequential quadratic programming (SQP) algorithm, which suffers for relatively slow convergence speed. In this paper, active set algorithm is introduced to the numerical solution of DMOCC. By comparison of these two algorithms for the example of transferring of the rigid sphere, the efficiency of active set algorithm is validated.

Discrete Mechanics and Optimal Control Applied to Mechanical Systems

2019 ◽  
Author(s):  
Igor Afonso Acampora Prado ◽  
Davi Ferreira de Castro ◽  
Mauricio Andrés Varela Morales ◽  
Domingos Rade
Keyword(s):  
Optimal Control ◽  
Mechanical Systems ◽  
Discrete Mechanics

scholarly journals Discrete Mechanics and Optimal Control for Image Registration

2007 ◽  
Vol 48 ◽  
pp. 1 ◽  
Author(s):  
Robert McLachlan ◽  
Stephen Marsland
Keyword(s):  
Optimal Control ◽  
Image Registration ◽  
Discrete Mechanics

Stochastic optimal control of state constrained systems

2011 ◽  
Vol 84 (3) ◽  
pp. 597-615 ◽  
Author(s):  
Bart van den Broek ◽  
Wim Wiegerinck ◽  
Bert Kappen
Keyword(s):  
Optimal Control ◽  
Stochastic Optimal Control ◽  
Constrained Systems
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