Optimal control for nonholonomic systems with symmetry

Proceedings of the IEEE Conference on Decision and Control

Volumn 5, Issue , 2000, Pages 5216-5218

  Cortes J ^a   Martinez S ^a  

^a INSTITUTO DE MATEMÁTICAS Y FÍSICA FUNDAMENTAL   (Spain)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONSTRAINT THEORY; CONTROL SYSTEM ANALYSIS; EQUATIONS OF MOTION; HAMILTONIANS; INTEGRATION; INVARIANCE; PROBLEM SOLVING;

GEOMETRIC FORMULATION; NONHOLONOMIC SYSTEMS; OPTIMAL CONTROL PROBLEM; OPTIMAL EQUATIONS;

OPTIMAL CONTROL SYSTEMS;

EID: 0034445390     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. Nonholonomic mechanical systems with symmetry
2. Geometric description of vakonomic and nonholonomic dynamics
3. Presymplectic Lagrangian systems I: The constraint algorithm and the equivalence theorem
4. Geometric phases and robotic locomotion
5. Optimal control for holonomic and nonholonomic mechanical systems with symmetry and Lagrangian reduction
6. Optimal controls for kinematic systems on Lie groups
7. Controllability tests for mechanical systems with symmetries and constraints