The Boltzmann-Hamel Equations for Optimal Control

Details The Boltzmann-Hamel Equations for Optimal Control The Boltzmann-Hamel Equations for Optimal Control

2007-06-29

arxiv.org/abs/0707.0027v1

Mathematics

Optimization and Control

20 pages, 2 figures

Scientific paper

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.

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