2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/132734We 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 figuresOptimization and Control49K15text