Quasivelocities and Optimal Control for Underactuated Mechanical Systems

Details Quasivelocities and Optimal Control for Underactuated Mechanical Systems Quasivelocities and Optimal Control for Underactuated Mechanical Systems

2010-03-04

arxiv.org/abs/1003.1013v1

Physics

Mathematical Physics

8 pages

Scientific paper

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.

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