The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints

DOI10.1002/rnc.1598zbMath1213.49029arXiv0707.0027OpenAlexW2145364805MaRDI QIDQ3084172

Anthony M. Bloch, Jared M. Maruskin

Publication date: 15 March 2011

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/0707.0027

zbMATH Keywords

optimal controlvariational principlesnonholonomic constraintsquasi-velocitiesBoltzmann--Hamel equations

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Control problems involving ordinary differential equations (34H05) Optimality conditions for problems involving ordinary differential equations (49K15)

Related Items (9)

Second-order constrained variational problems on Lie algebroids: applications to optimal control ⋮ Formulation of the Governing Equations of Motion of Dynamic Systems on a Principal Bundle ⋮ Rheonomic systems with nonlinear nonholonomic constraints: the Voronec equations ⋮ A geometric approach to the transpositional relations in dynamics of nonholonomic mechanical systems ⋮ A fiber bundle approach to the transpositional relations in nonholonomic mechanics ⋮ On the Hamel coefficients and the Boltzmann-Hamel equations for the rigid body ⋮ Regularity properties of fiber derivatives associated with higher-order mechanical systems ⋮ d’Alembert–Lagrange analytical dynamics for nonholonomic systems ⋮ Jacobi multipliers and Hamel’s formalism

Cites Work

• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• The Euler-Poincaré equations and double bracket dissipation
• The dynamic interpolation problem: on Riemannian manifolds, Lie groups, and symmetric spaces
• Nonholonomic mechanical systems with symmetry
• On the transpositional relations in analytical mechanics of nonholonomic systems
• Cubic Splines on Curved Spaces
• Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
• Symmetries in vakonomic dynamics: Applications to optimal control

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