Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
DOI10.1137/S0363012995290367zbMATH Open0880.70020MaRDI QIDQ4337744FDOQ4337744
Authors: J. E. Marsden, Wang Sang Koon 
Publication date: 26 May 1997
Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)
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Cited In (41)
- Non-holonomic Euler-Poincare´ equations and stability in Chaplygin's sphere
- Hierarchical trajectory refinement for a class of nonlinear systems
- Optimal Control Problems with Symmetry Breaking Cost Functions
- Constraint control of nonholonomic mechanical systems
- Singular Lagrangian systems and variational constrained mechanics on Lie algebroids
- Various approaches to conservative and nonconservative nonholonomic systems
- Lagrange-d'Alembert-Poincaré equations by several stages
- Heteroclinic connections between periodic orbits and resonance transitions in celestial mechanics
- Reduction in optimal control theory
- Further development of the mathematical model of a snakeboard
- Discrete maximum principle in Hamel's formalism for nonholonomic optimal control
- Symmetries in vakonomic dynamics: Applications to optimal control
- The consistency problem in optimal control: the degenerate case.
- Nonholonomic constraints: a new viewpoint
- Reduction of Hamilton's variational principle
- The falling cat as a port-controlled Hamiltonian system
- The Boltzmann--Hamel equations for the optimal control of mechanical systems with nonholonomic constraints
- A nonholonomic approach to isoparallel problems and some applications
- Poisson reduction for nonholonomic mechanical systems with symmetry
- Control aspects of holonomic quantum computation
- Symplectic groupoids and discrete constrained Lagrangian mechanics
- The Hamiltonian and Lagrangian approaches to the dynamics of nonholonomic systems
- Geometric mechanics of many-body systems
- Title not available (Why is that?)
- Abstractions of Hamiltonian control systems.
- Title not available (Why is that?)
- Optimal control realizations of Lagrangian systems with symmetry
- Lie-Poisson reduction for optimal control of left-invariant control systems with subgroup symmetry
- Reduction theory and the Lagrange-Routh equations.
- Energy-optimal trajectory planning for the Pendubot and the Acrobot
- Notes on discrete compound Poisson model with applications to risk theory
- Invariant tracking
- Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping
- Energy-optimal trajectory planning for planar underactuated \(RR\) robot manipulators in the absence of gravity
- Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups
- A Lie group PMP approach for optimal stabilization and tracking control of autonomous underwater vehicles
- Momentum maps and reduction in algebraic geometry
- Title not available (Why is that?)
- Control and stability in the kinematic model of an automobile with \(n-3\) trailers.
- The energy-momentum method for the stability of non-holonomic systems
- On mechanical control systems with nonholonomic constraints and symmetries
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