Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid

Details Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid

2009-09-21

arxiv.org/abs/0909.3871v1

Mathematics

Optimization and Control

6 pages, 3 figures

Scientific paper

This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space, and each joint has three rotational degrees of freedom. We assume that internal control moments are applied at each joint. We present a computational procedure for numerically solving this optimal control problem, based on a geometric numerical integrator referred to as a Lie group variational integrator. This computational approach preserves the Hamiltonian structure of the controlled system and the Lie group configuration manifold of the connected rigid bodies, thereby finding complex optimal maneuvers of connected rigid bodies accurately and efficiently. This is illustrated by numerical computations.

Affiliated with

Also associated with

No associations

Rating

Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Computational Geometric Optimal Control of Connected Rigid Bodies in a Perfect Fluid will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-300079