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, INPG - Institut National Polytechnique de Grenoble
2 GIPSA-SYSCO - SYSCO
GIPSA-DA - Département Automatique
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.
Complete list of metadatas

Cited literature [13 references]  Display  Hide  Download

https://hal.inria.fr/hal-01493188
Contributor : Alexandre Vieira <>
Submitted on : Friday, March 24, 2017 - 3:40:46 PM
Last modification on : Thursday, August 22, 2019 - 11:32:03 AM
Long-term archiving on : Sunday, June 25, 2017 - 1:25:16 PM

File

paperWithProof.pdf
Files produced by the author(s)

Identifiers

Citation

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⟩

Share

Metrics

Record views

1400

Files downloads

594