论文标题
在最佳控制速率无关的软爬网上
On the optimal control of rate-independent soft crawlers
论文作者
论文摘要
得出了最佳解决方案的存在和必要的最佳条件，用于莫罗（Moreau）的全面过程。控制是动力学的可测量成分，约束集是多面体。新颖性在于考虑时间周期性轨迹，并补充说对照的平均值为零，并考虑了缺乏半决性弱的整体功能。详细分析了一种来自软体动物轨道的运动的模型，该模型详细分析了。在获得必要条件时，使用了离散近似方法的改进。
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 have 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, an improvement of the method of discrete approximations is used.
