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Showing 1 to 2 of 2 for “"geometric optimal control"”.
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Manipulation and mechanics of thin elastic objects
… First, a few results concerning symmetries in geometric optimal control theory are derived, which are later used in the analysis of thin elastic objects. Then the problem of quasi-statically manipulating an elastic rod from an initial configuration into a goal configuration is considered. Based …
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Optimal control problems on lie groups with symmetry breaking cost functions
In this thesis, we consider smooth optimal control systems that evolve on Lie groups. Pontryagin's maximum principle allows us to search for local solutions of the optimal control problem by studying an associated Hamiltonian dynamical system. When the associated Hamiltonian function possess …