Geometric numerical integration of nonholonomic systems and optimal control problems
Mathematical Physics
2016-09-07 v1 math.MP
Numerical Analysis
Abstract
A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.
Cite
@article{arxiv.math-ph/0212007,
title = {Geometric numerical integration of nonholonomic systems and optimal control problems},
author = {M. de Leon and D. Martin de Diego and A. Santamaria Merino},
journal= {arXiv preprint arXiv:math-ph/0212007},
year = {2016}
}
Comments
6 pages, 1 figure. Submitted to IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Sevilla 2003