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math.OC2019
Towards Velocity Turnpikes in Optimal Control of Mechanical Systems
Timm Faulwasser, Kathrin Flaßkamp, Sina Ober-Blöbaum +1
The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocit…
math.OC2019
Symmetry and Motion Primitives in Model Predictive Control
Kathrin Flaßkamp, Sina Ober-Blöbaum, Karl Worthmann
Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the…