Optimal control computation to account for eccentric movement

Abstract

AbstractA class of optimal control models which involve different weightings in the integrand of the objective function is considered. The motivation for considering this class of problems is that this type of objective function is used to account for eccentric movement in biomechanical models. The computation of these optimal control problems using control parametrization directly is difficult, firstly because of ill-conditioning, and secondly because the objective function is not differentiable. A method for smoothing the integrand is presented with convergence results. An example is computed which shows favourable computational improvements.