Discrete mechanics and optimal control for constrained systems

By Sigrid Leyendecker, Sina Ober-Blöbaum, Jerrold E. Marsden, Magdalena Ortiz. 2010

158 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/1d8249bde7fe8e6d130bec6ff22262e365bacf09

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Aerospace Engineering

1. Gabriele Bleser
2. Markus Miezal
3. Sigrid Leyendecker

In Control and Systems Engineering

1. Ramona Hoffmann
2. Gabriele Bleser
3. Markus Miezal
4. Sigrid Leyendecker
5. Tobias Gail

Citations in the corpus

• A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control (2016, background): “derived a structure-preserving scheme for the optimal control of such systems using, as one of the key ingredients, a discrete analogue of that principle [10].”
• Towards bridging the gap between motion capturing and biomechanical optimal control simulations (2015, methodology): “In this work, a direct transcription method called discrete mechanics and optimal control for constrained systems (DMOCC), see [11, 14], falling into the latter class, is used to approximate the solution at the time nodes t0, t1 = t0 + h, .”