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

DOI10.1002/rnc.1598zbMath1213.49029arXiv0707.0027MaRDI 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 control; variational principles; nonholonomic constraints; quasi-velocities; Boltzmann--Hamel equations

Mathematics Subject Classification ID

70Q05: Control of mechanical systems

34H05: Control problems involving ordinary differential equations

49K15: Optimality conditions for problems involving ordinary differential equations

Related Items

A geometric approach to the transpositional relations in dynamics of nonholonomic mechanical systems, d’Alembert–Lagrange analytical dynamics for nonholonomic systems, A fiber bundle approach to the transpositional relations in nonholonomic mechanics, Second-order constrained variational problems on Lie algebroids: applications to optimal control, Regularity properties of fiber derivatives associated with higher-order mechanical systems

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