The Time-Freezing Reformulation for Numerical Optimal Control of Complementarity Lagrangian Systems with State Jumps - Extended Version
Armin Nurkanović, Sebastian Albrecht, Bernard Brogliato, Moritz Diehl
Topics & Concepts
Classification of discontinuitiesTrajectoryJumpControl theory (sociology)Optimal controlState (computer science)Dynamical systems theoryDynamical system (definition)MathematicsComplementarity (molecular biology)Applied mathematicsComputer scienceMathematical optimizationControl (management)Mathematical analysisPhysicsAlgorithmBiologyArtificial intelligenceAstronomyQuantum mechanicsGeneticsDynamics and Control of Mechanical SystemsRobotic Locomotion and ControlControl and Dynamics of Mobile Robots