Journal
JOURNAL OF MATHEMATICAL PHYSICS
Volume 51, Issue 8, Pages -Publisher
AIP Publishing
DOI: 10.1063/1.3456158
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Funding
- MEC (Spain) [MTM 2007-62478, CSD 2006-00032]
- Comunidad de Madrid [S-0505/ESP/0158]
- CSIC
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In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence, to obtain a unique vector field determining the dynamics of the optimal control problem. These developments will allow us to develop a new class of geometric integrators based on discrete variational calculus. (C) 2010 American Institute of Physics. [doi:10.1063/1.3456158]
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