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Geometric numerical integration of nonholonomic systems and optimal control problems

AuthorsLeón, Manuel de; Martín de Diego, David; Santamaría, Aitor
KeywordsGeometric integrators
Nonholonomic systems
Optimal control
Issue Date2-Dec-2002
AbstractA geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.
DescriptionSubmitted to IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Sevilla 2003.
Appears in Collections:(ICMAT) Artículos
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