On the optimal control of rate-independent soft crawlers
Result description
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.
Keywords
Optimal controlSweeping processDiscrete approximationsNecessary optimality conditionsCrawling locomotionSoft robotics
The result's identifiers
Result code in IS VaVaI
Result on the web
https://www.sciencedirect.com/science/article/pii/S0021782420301896
DOI - Digital Object Identifier
Alternative languages
Result language
angličtina
Original language name
On the optimal control of rate-independent soft crawlers
Original language description
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.
Czech name
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Czech description
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Classification
Type
Jimp - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10102 - Applied mathematics
Result continuities
Project
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Journal de Mathematiques Pures et Appliquees
ISSN
0021-7824
e-ISSN
1776-3371
Volume of the periodical
146
Issue of the periodical within the volume
1
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
31
Pages from-to
127-157
UT code for WoS article
000606806100001
EID of the result in the Scopus database
2-s2.0-85095957685
Basic information
Result type
Jimp - Article in a specialist periodical, which is included in the Web of Science database
OECD FORD
Applied mathematics
Year of implementation
2021