Optimal control of foldable drones and its geometric integration

DOI10.1007/S00498-026-00452-0MaRDI QIDQ7354905zbMATH OpenFDO

Authors Leonardo Colombo, J. I. Giribet, David Martín de Diego

Publication date 22 September 2026

Published in MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1007/S00498-026-00452-0

Mathematics Subject Classification ID

Numerical methods based on necessary conditions (49M05) Variational principles of physics (49S05) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Systems theory; control (93-XX)

Cites work

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• Review of the exponential and Cayley map on \(\mathrm{SE}(3)\) as relevant for Lie group integration of the generalized Poisson equation and flexible multibody systems
• Variational integrators for constrained dynamical systems
• Variational integrators for mechanical control systems with symmetries
• Variational integrators for non-autonomous Lagrangian systems

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