The Boltzmann-Hamel Equations for Optimal Control
Optimization and Control
2007-07-03 v1
Abstract
We extend the Boltzmann-Hamel equations to the optimal control setting, producing a set of equations for both kinematic and dynamic nonholonomic optimal control problems. In particular, we will show the dynamic optimal control problem can be written as a minimal set of 4n-2m first order differential equations of motion.
Cite
@article{arxiv.0707.0027,
title = {The Boltzmann-Hamel Equations for Optimal Control},
author = {Jared M. Maruskin and Anthony M. Bloch},
journal= {arXiv preprint arXiv:0707.0027},
year = {2007}
}