An optimal control approach to the design of periodic orbits for mechanical systems with impacts

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• 作者：Sara Spedicato ; ^{sara.spedicato@unisalento.it} ; Giuseppe Notarstefano ^{giuseppe.notarstefano@unisalento.it}
• 关键词：Nonlinear optimal control ; Trajectory generation ; Hybrid systems ; Biped walking
• 刊名：Nonlinear Analysis: Hybrid Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：23
• 期：Complete
• 页码：111-121
• 全文大小：953 K
• 卷排序：23

文摘

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control. Specifically, we design an optimal control based strategy that combines trajectory optimization, dynamics embedding, optimal control relaxation and root finding techniques. The proposed strategy allows us to design, in a numerically stable manner, trajectories that optimize a desired cost and satisfy boundary state constraints consistent with a periodic orbit. To show the effectiveness of the proposed strategy, we perform numerical computations on a compass biped model with torso.