Access the full text.
Sign up today, get DeepDyve free for 14 days.
S. Ober-Blöbaum, O. Junge, J. Marsden (2008)
DISCRETE MECHANICS AND OPTIMAL CONTROL: AN ANALYSIS ∗ESAIM: Control, Optimisation and Calculus of Variations, 17
J. Marsden, Matthew West (2001)
Discrete mechanics and variational integratorsActa Numerica, 10
(1998)
and H
村尾 俊幸 (2014)
The 52nd IEEE Conference on Decision and Controlに参加して(国際会議の報告), 58
R. Ortega, A. Loría, P. Nicklasson, H. Sira-Ramírez (1998)
Generalized AC motor
S. Ober-Blöbaum, Molei Tao, Mulin Cheng, H. Owhadi, J. Marsden (2011)
Variational integrators for electric circuitsPAMM, 11
(2013)
Journal of Computational Physics 242
A. Teel, L. Praly
ESAIM: Control, Optimisation and Calculus of Variations
(2011)
ESAIM: Control
(2001)
Acta Numerica 10
(2005)
VDI-Bericht 1892
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)
Proceedings in Applied Mathematics & Mechanics – Wiley
Published: Dec 1, 2017
Read and print from thousands of top scholarly journals.
Already have an account? Log in
Bookmark this article. You can see your Bookmarks on your DeepDyve Library.
To save an article, log in first, or sign up for a DeepDyve account if you don’t already have one.
Copy and paste the desired citation format or use the link below to download a file formatted for EndNote
Access the full text.
Sign up today, get DeepDyve free for 14 days.
All DeepDyve websites use cookies to improve your online experience. They were placed on your computer when you launched this website. You can change your cookie settings through your browser.