Optimal Control of Perturbed Sweeping Processes with Applications to General Robotics Models

This paper primarily focuses on the practical applications of optimal control theory for perturbed sweeping processes within the realm of robotics dynamics. By describing these models as controlled sweeping processes with pointwise control and state constraints and by employing necessary optimality conditions for such systems, we formulate optimal control problems suitable to these models and develop numerical algorithms for their solving. Subsequently, we use the Python Dynamic Optimization library GEKKO to simulate solutions to the posed robotics problems in the case of any fixed number of robots under different initial conditions.