Variational integrators for mechanical control systems with symmetries

DOI10.3934/jcd.2015003zbMath1397.70024arXiv1209.6315OpenAlexW2398679337MaRDI QIDQ317181

David Martín de Diego, Fernando Jiménez, Leonardo Colombo

Publication date: 30 September 2016

Published in: Journal of Computational Dynamics (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/1209.6315

zbMATH Keywords

optimal controlvariational integratorsconstrained mechanicsdiscrete variational calculushigher-order mechanicsunderactuated systems

Mathematics Subject Classification ID

Geometric methods in ordinary differential equations (34A26) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Existence theories for free problems in one independent variable (49J05) Hamiltonian and Lagrangian mechanics (70Hxx)

Related Items

The variational discretization of the constrained higher-order Lagrange-Poincaré equations, Geometric control of two quadrotors carrying a rigid rod with elastic cables, Variational integrators for non-autonomous Lagrangian systems, A Herglotz-based integrator for nonholonomic mechanical systems, Lyapunov method for stability of descriptor second-order and high-order systems, Stable control strategy for a second-order nonholonomic planar underactuated mechanical system

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