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Prelimenary results on the optimal control of linear complementarity systems

Alexandre Vieira 1 Bernard Brogliato 1 Christophe Prieur 2
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann , Grenoble INP [2007-2019] - Institut polytechnique de Grenoble - Grenoble Institute of Technology [2007-2019]
Abstract : In this paper, we give some results concerning the quadratic optimal control of linear complementarity systems. We derive first order conditions for this system, that we manage to express as a Mixed Linear Complementarity System. We then use this result to build numerical schemes, which are expressed as Mathematical Problems with Equilibrium Constraints.
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https://hal.inria.fr/hal-01493188
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Alexandre Vieira, Bernard Brogliato, Christophe Prieur. Prelimenary results on the optimal control of linear complementarity systems. 20th IFAC World Congress (IFAC WC 2017), Jul 2017, Toulouse, France. pp.2977-2982, ⟨10.1016/j.ifacol.2017.08.663⟩. ⟨hal-01493188v2⟩

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