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- W3044739441 abstract "Many dynamical systems possess symmetries, e.g. rotational and translational invariances of mechanical systems. These can be beneficially exploited in the design of numerical optimal control methods. We present a model predictive control scheme which is based on a library of precomputed motion primitives. The primitives are equivalence classes w.r.t. the symmetry of the optimal control problems. Trim primitives as relative equilibria w.r.t. this symmetry, play a crucial role in the algorithm. The approach is illustrated using an academic mobile robot example." @default.
- W3044739441 created "2020-07-29" @default.
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- W3044739441 date "2020-01-01" @default.
- W3044739441 modified "2023-10-03" @default.
- W3044739441 title "Symmetry in Optimal Control: A Multiobjective Model Predictive Control Approach" @default.
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- W3044739441 doi "https://doi.org/10.1007/978-3-030-51264-4_9" @default.
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