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On the optimal control of rate-independent soft crawlers
- 1.0537210 - ÚTIA 2022 RIV NL eng J - Journal Article
Colombo, G. - Gidoni, Paolo
On the optimal control of rate-independent soft crawlers.
Journal de Mathematiques Pures et Appliquees. Roč. 146, č. 1 (2021), s. 127-157. ISSN 0021-7824. E-ISSN 1776-3371
R&D Projects: GA ČR(CZ) GF19-29646L
Institutional support: RVO:67985556
Keywords : Optimal control * Sweeping process * Discrete approximations * Necessary optimality conditions * Crawling locomotion * Soft robotics
OECD category: Applied mathematics
Impact factor: 2.282, year: 2021
Method of publishing: Limited access
http://library.utia.cas.cz/separaty/2021/MTR/gidoni-0537210.pdf https://www.sciencedirect.com/science/article/pii/S0021782420301896
Existence of optimal solutions and necessary optimality conditions for a controlled version of Moreau's sweeping process are derived. The control is a measurable ingredient of the dynamics and the constraint set is a polyhedron. The novelty consists in considering time periodic trajectories, adding the requirement that the control has zero average, and considering an integral functional that lacks weak semicontinuity. A model coming from the locomotion of a soft-robotic crawler, that motivated our setting, is analysed in detail. In obtaining necessary conditions, a variant of the method of discrete approximations is used.
Permanent Link: http://hdl.handle.net/11104/0315006
Number of the records: 1