Geometric Optimal Trajectory Tracking of Nonholonomic Mechanical Systems

DOI10.1137/19M1243464zbMath1441.49001arXiv2001.10346MaRDI QIDQ3300784

Aradhana Nayak, David Martín de Diego, Leonardo Colombo, Rodrigo T. Sato Martín de Almagro

Publication date: 30 July 2020

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2001.10346

zbMATH Keywords

optimal controlnonholonomic systemstrajectory planningvariational integrators

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Applications of Lie groups to the sciences; explicit representations (22E70) Existence theories for optimal control problems involving ordinary differential equations (49J15) Dynamical systems in control (37N35) Nonholonomic systems related to the dynamics of a system of particles (70F25) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Nonholonomic dynamical systems (37J60)

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