Optimal trajectory planning for structure-variant mechanical systems

Proceedings of the 2006 International Workshop on Variable Structure Systems, VSS'06

Volumn 2006, Issue , 2006, Pages 298-303

  Yunt, Kerim ^a  

^a Institute of Mechanical Systems (IMES)   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; MECHANICAL VARIABLES CONTROL; OPTIMIZATION; TRAJECTORIES;

MECHANICAL SYSTEMS; NONHOLONOMIC SYSTEMS; OPTIMAL TRAJECTORIES; SUCCESSIVE UNCONSTRAINED MINIMIZATION METHOD (SUMT);

OPTIMAL SYSTEMS;

EID: 33845562406     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/VSS.2006.1644534     Document Type: Conference Paper

References (18)

1. M. Reyhanoglu A. M. Bloch and N. H. McClamroch. Control and stabilization of nonholonomic dynamic systems. IEEE Transactions on Automatic Control, 37(11):1746-1757, Nov. 1992.
2. P. Alart and A. Curnier. A mixed formulation for frictional contact problems prone to newton like solution methods. Computer Methods in Applied Mechanics and Engineering, 92(3):353-375, 1991.
3. D. Bertsekas. Nonlinear Programming. Optimization and Computation Series. Athena Scientific, 1999.
4. J. T Betts. Survey of numerical methods for trajectory optimization. Journal of Guidance, Control and Dynamics, 21(2):193-207, 3 1998.
5. B. Brogliato. On the control of non-smooth complementarity dynamical systems. Phil. Trans. R. Soc. London, A359:2369-2383, 2001.
6. D. J. Craven. Control and Optimization. Chapman Hall Mathematics, 1995.
7. Ch. Glocker. Set-Valued Force Laws - Dynamics of Non-Smooth Systems, volume 1 of Lecture Notes in Applied Mechanics. Springer Verlag, 2001.
8. I. Kolmanovsky and N. H. McClamroch. Developments in nonholonomic control problems. IEEE Control Systems, 15(6):26-36, 1995.
9. A. N. Kolmogorov and S.V. Fomin. Introductory Real Analysis. Dover, 1970.
10. J. P. Laumond and T. Simeon. Motion planning for a two degrees of freedom mobile robot with towing. In IEEE International Conf. on Contr. Appl., 1991.
11. R. I. Leine and H. Nijmeijer. Dynamics and Bifurcations of Nonsmooth Mechanical Systems, volume 18 of Lecture Notes in Applied and Computational Mechanics. Springer, 2004.
12. M.D.P Monteiro-Marques. Differential Inclusions in Nonsmooth Mechanical Problems. Birkhäuser, 1993.
13. J. J. Moreau. Topics in Nonsmooth Mechanics, chapter bounded Variations in Time, pages 1-74. Birkhäuser, 1988.
14. J. J. Moreau. Numerical aspects of the sweeping process. Comput. Methods Appl. Mech. Engrg., (177):329-349, 1999.
15. R. Murray and S. Sastry. Steering nonholonomic systems using sinusoids. Proceedings of the 1990 IEEE International Conference on Decision and Control, 37(11):2097-2101, 1990.
16. K. G. Murty. Linear Complementarity, Linear and Nonlinear Programming. Helderman Verlag, 1988.
17. R. Vinter. Optimal Control. Systems Control: Foundations Applications. Birkäuser, 2000.
18. K. Yunt and Ch. Glocker. Time-optimal trajectories of a differential-drive robot. In Proceedings of the 2005 ENOC Conference, 2005.