Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reduction
DOI10.1137/S0363012995290367zbMATH Open0880.70020MaRDI QIDQ4337744FDOQ4337744
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
Existence theories for optimal control problems involving ordinary differential equations (49J15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Control of mechanical systems (70Q05) Holonomic systems related to the dynamics of a system of particles (70F20)
Cited In (38)
- 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.
- Reduction of Hamilton's variational principle
- The falling cat as a port-controlled Hamiltonian system
- 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.
- 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
- The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints
- Invariant tracking
- Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping
- Nonholonomic constraints: A new viewpoint
- 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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