Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
From MaRDI portal
Publication:4337744
DOI10.1137/S0363012995290367zbMath0880.70020MaRDI QIDQ4337744
Jerrold E. Marsden, Wang Sang Koon
Publication date: 26 May 1997
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
symmetry groupnecessary conditions for optimal controloptimal control on Lie groups and principal bundlesreorientation with zero angular momentumsatellite with moveable masses
Control of mechanical systems (70Q05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Holonomic systems related to the dynamics of a system of particles (70F20)
Related Items
The consistency problem in optimal control: the degenerate case., Energy-optimal trajectory planning for planar underactuated \(RR\) robot manipulators in the absence of gravity, The Hamiltonian and Lagrangian approaches to the dynamics of nonholonomic systems, Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups, Lie-Poisson reduction for optimal control of left-invariant control systems with subgroup symmetry, The falling cat as a port-controlled Hamiltonian system, Optimal Control Problems with Symmetry Breaking Cost Functions, Constraint control of nonholonomic mechanical systems, Lagrange-d'Alembert-Poincaré equations by several stages, Abstractions of Hamiltonian control systems., Further development of the mathematical model of a snakeboard, Singular Lagrangian systems and variational constrained mechanics on Lie algebroids, Reduction in optimal control theory, Symplectic groupoids and discrete constrained Lagrangian mechanics, Reduction theory and the Lagrange–Routh equations, Symmetries in vakonomic dynamics: Applications to optimal control, Hierarchical trajectory refinement for a class of nonlinear systems, Invariant tracking, The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints, Nonholonomic constraints: A new viewpoint, Control and stability in the kinematic model of an automobile with \(n-3\) trailers., Poisson reduction for nonholonomic mechanical systems with symmetry, Various approaches to conservative and nonconservative nonholonomic systems, Energy-optimal trajectory planning for the Pendubot and the Acrobot, The energy-momentum method for the stability of non-holonomic systems, Momentum maps and reduction in algebraic geometry, A nonholonomic approach to isoparallel problems and some applications, Control aspects of holonomic quantum computation, Reduction of Hamilton's variational principle, Geometric mechanics of many-body systems, Heteroclinic connections between periodic orbits and resonance transitions in celestial mechanics, Non-holonomic Euler-Poincare´ equations and stability in Chaplygin's sphere
