Please use this identifier to cite or link to this item:
http://hdl.handle.net/10773/39605
Title: | Some applications of quasi-velocities in optimal control |
Author: | Abrunheiro, Lígia Camarinha, Margarida Cariñena, José F. Clemente-Gallardo, Jesús MartÍnez, Eduardo Santos, Patricia |
Keywords: | Optimal control Nonholonomic systems Lie algebroids Quasi-velocities |
Issue Date: | 2011 |
Publisher: | World Scientific Publishing |
Abstract: | In this paper we study optimal control problems for nonholonomic systems defined on Lie algebroids by using quasi-velocities. We consider both kinematic, i.e. systems whose cost functional depends only on position and velocities, and dynamic optimal control problems, i.e. systems whose cost functional depends also on accelerations. The formulation of the problem directly at the level of Lie algebroids turns out to be the correct framework to explain in detail similar results appeared recently [20]. We also provide several examples to illustrate our construction. |
Peer review: | yes |
URI: | http://hdl.handle.net/10773/39605 |
DOI: | 10.1142/S0219887811005427 |
ISSN: | 0219-8878 |
Appears in Collections: | CIDMA - Artigos |
Files in This Item:
File | Description | Size | Format | |
---|---|---|---|---|
1102.2203.pdf | paper preprint | 215.21 kB | Adobe PDF | View/Open |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.