ITM Web Conf.
Volume 29, 20191st International Conference on Computational Methods and Applications in Engineering (ICCMAE 2018)
|Number of page(s)||6|
|Published online||15 October 2019|
An underactuated drift-free left-invariant control system on the Lie group ISO(3,1)
Politehnica University of Timisoara, Math Department, 2,
* Corresponding author: email@example.com
The purpose of our paper is to study a class of left-invariant, drift-free optimal control problem on the Lie group ISO(3,1). The left-invariant, drift-free optimal control problems involves finding a trajectory-control pair on ISO(3,1), which minimize a cost function and satisfies the given dynamical constrains and boundary conditions in a fixed time. The problem is lifted to the cotangent bundle T*G using the optimal Hamiltonian on G*, where the maximum principle yields the optimal control. We use energy methods (Arnold’s method, in this case) to give sufficient conditions fornonlinear stability of the equilibrium states. Around this equilibrium states we might be able to find the periodical orbits using Moser's theorem, as future work. For the some unstable equilibrium states, a quadratic control is considered in order to stabilize the dynamics.
© The Authors, published by EDP Sciences, 2019
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