The Boltzmann-Hamel Equations for Optimal Control

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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.
20 pages, 2 figures

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Optimization and Control, 49K15

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http://salesiana.dossiersoluciones.com/handle/123456789/132734

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/0707.0027
 http://arxiv.org/abs/0707.0027

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arXiv