Geometric Computational Mechanics and Optimal Control

Abstract

The research performed during this AFOSR grant has extended the basic discrete DMOC (Discrete Mechanics and Optimal Control) framework to derive algorithms for general nonholonomic multi-body systems, with applications to a variety of problems including space mission design. A computational framework was developed which can automatically construct integration and optimization schemes by providing a high-level description of the mechanical system in terms of its physical layout, inertial properties, constraints, actuation, and external influences. This last year of the grant was focused on optimization problems with non-holonomic constraints as well as continued applications to space mission design. Besides describing the latest results and publications obtained over the past 12 months, we also describe the next steps that we expect to explore now that the work of this grant is over.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 02, 2011
Accession Number
ADA564028

Entities

People

  • Marin Kobilarov
  • Mathieu Desbrun

Organizations

  • California Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Space

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Applied Mathematics
  • Classification
  • Computational Mechanics
  • Evolutionary Algorithms
  • Heuristic Methods
  • Lie Groups
  • Mathematics
  • Mechanics
  • Missions
  • Model Predictive Control
  • Optimization
  • Space Missions
  • Spacecraft
  • Spacecraft Trajectories
  • Trajectories

Readers

  • Computational Fluid Dynamics (CFD)
  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers