Optimal control of a slot car racer

Optimal control of a slot car racer In this contribution, we present a simulation method for the optimal control of a mechatronic system that is based on discrete variational calculus and apply it to compute the time‐minimal path of a slot car racer. Here, the DMOC (Discrete Mechanics and Optimal Control [4]) method is used to generate offline optimal trajectories for the electro‐mechanically coupled system, i.e. sequences of discrete configurations and sequences of driving voltages. The time‐minimal path is achieved by the choice of different cost functions, the sum of time steps, the negative sum of the quadratic momenta and the negative sum of the quadratic velocities. Simulation results show that the momentum formulation yields the lowest number of iterations. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim) http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Proceedings in Applied Mathematics & Mechanics Wiley

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Publisher
Wiley Subscription Services, Inc., A Wiley Company
Copyright
Copyright © 2017 Wiley Subscription Services
ISSN
1617-7061
eISSN
1617-7061
D.O.I.
10.1002/pamm.201710238
Publisher site
See Article on Publisher Site

Abstract

In this contribution, we present a simulation method for the optimal control of a mechatronic system that is based on discrete variational calculus and apply it to compute the time‐minimal path of a slot car racer. Here, the DMOC (Discrete Mechanics and Optimal Control [4]) method is used to generate offline optimal trajectories for the electro‐mechanically coupled system, i.e. sequences of discrete configurations and sequences of driving voltages. The time‐minimal path is achieved by the choice of different cost functions, the sum of time steps, the negative sum of the quadratic momenta and the negative sum of the quadratic velocities. Simulation results show that the momentum formulation yields the lowest number of iterations. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Journal

Proceedings in Applied Mathematics & MechanicsWiley

Published: Jan 1, 2017

References

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