Second-order DMOC using projection

Kristine L. Snyder, Todd D. Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


Discrete mechanics and optimal control (DMOC) is a recent development in optimal control of mechanical systems that takes advantage of the variational structure of mechanics when discretizing the optimal control problem. Typically, the discrete Euler-Lagrange equations are used as constraints on the feasible set of solutions, and then the objective function is minimized using a constrained optimization algorithm, such as sequential quadratic programming (SQP). In contrast, this paper illustrates that by reducing dimensionality by projecting onto the feasible subspace and then performing optimization, one can obtain significant improvements in convergence, going from superlinear to quadratic convergence. Moreover, whereas numerical SQP can run into machine precision problems before terminating, the projection-based technique converges easily. Double and single pendulum examples are used to illustrate the technique.

Original languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
Number of pages7
StatePublished - 2010
Event2010 49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, GA, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216


Other2010 49th IEEE Conference on Decision and Control, CDC 2010
CountryUnited States
CityAtlanta, GA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Second-order DMOC using projection'. Together they form a unique fingerprint.

Cite this