Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach

Nayak A, Sato Martin de Almagro R, Colombo LJ, Martín de Diego D (2019)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2019

Event location: Philadelphia Marriott Downtown, Philadelphia, PA, USA US

Abstract

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory evolving on the distribution which defines the nonholonomic constraints. We propose a geometric framework since it describes the class of nonlinear systems under study in a coordinate-free framework. Necessary conditions for the existence of extrema are determined by the Pontryagin Minimum Principle. A nonholonomic fully actuated particle is used as a benchmark example to show how the proposed method is applied.

Authors with CRIS profile

Rodrigo Sato Martin de Almagro Institute of Applied Dynamics

Involved external institutions

Universidad Autónoma de Madrid (UAM) ES Spain (ES) Spanish National Research Council / Consejo Superior de Investigaciones Científicas (CSIC) ES Spain (ES) Mines ParisTech / École Nationale Supérieure des Mines de Paris (ENSMP) FR France (FR)

How to cite

APA:

Nayak, A., Sato Martin de Almagro, R., Colombo, L.J., & Martín de Diego, D. (2019). Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach. In Proceedings of the 2019 American Control Conference (ACC). Philadelphia Marriott Downtown, Philadelphia, PA, USA, US.

MLA:

Nayak, Aradhana, et al. "Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach." Proceedings of the 2019 American Control Conference (ACC), Philadelphia Marriott Downtown, Philadelphia, PA, USA 2019.

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