Quasivelocities and Optimal Control for Underactuated Mechanical Systems
Mathematical Physics
2015-05-18 v1 math.MP
Abstract
This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.
Cite
@article{arxiv.1003.1013,
title = {Quasivelocities and Optimal Control for Underactuated Mechanical Systems},
author = {L. Colombo and D. Martin de Diego},
journal= {arXiv preprint arXiv:1003.1013},
year = {2015}
}
Comments
8 pages